US 12,140,710 B2
Method for identification of a noise point used for LiDAR, and LiDAR system
Xiaotong Zhou, Shanghai (CN); Shaoqing Xiang, Shanghai (CN); Zhaoming Zeng, Shanghai (CN); and Zhenlei Shao, Shanghai (CN)
Assigned to HESAI TECHNOLOGY CO., LTD., Shanghai (CN)
Filed by Hesai Technology Co., Ltd., Shanghai (CN)
Filed on Feb. 27, 2024, as Appl. No. 18/588,305.
Application 18/588,305 is a continuation of application No. 17/038,113, filed on Sep. 30, 2020.
Application 17/038,113 is a continuation of application No. PCT/CN2019/085768, filed on May 7, 2019.
Claims priority of application No. 201910322878.X (CN), filed on Apr. 22, 2019.
Prior Publication US 2024/0201342 A1, Jun. 20, 2024
Int. Cl. G01S 17/89 (2020.01); G01S 7/487 (2006.01); G01S 7/4865 (2020.01)
CPC G01S 7/4873 (2013.01) [G01S 17/89 (2013.01); G01S 7/4865 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A method of generating a point cloud by a LiDAR,
the method comprising:
emitting a plurality of laser pulses toward a first measurement point;
receiving echoes formed by a reflection of the plurality of laser pulses;
generating a first measurement for the first measurement point based on the echoes, the first measurement including a distance from the first measurement point to the LiDAR; and
determining a waveform noise of the echoes, the waveform noise characterizing a fluctuation of sampling points of an echo waveform;
detecting a state of weather based on the waveform noise; and
processing the first measurement for generating the point cloud based on the state of weather.