US 12,487,363 B2
LiDAR systems and methods determining distance to object from LiDAR system
Dmitry Valentinovich Solomentsev, Moscow (RU); Andrey Viktorovich Golikov, Moscow (RU); and Nikolay Evgenevich Orlov, Sarapul (RU)
Assigned to Y.E. Hub Armenia LLC, Yerevan (AM)
Filed by YANDEX SELF DRIVING GROUP LLC, Moscow (RU)
Filed on Apr. 23, 2021, as Appl. No. 17/239,264.
Claims priority of application No. RU2020114527 (RU), filed on Apr. 23, 2020.
Prior Publication US 2021/0333407 A1, Oct. 28, 2021
Int. Cl. G01C 3/08 (2006.01); G01S 7/484 (2006.01); G01S 7/486 (2020.01); G01S 17/42 (2006.01); G01S 17/931 (2020.01)
CPC G01S 17/931 (2020.01) [G01S 7/484 (2013.01); G01S 7/486 (2013.01); G01S 17/42 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method of determining a distance of an object from a LiDAR system, the object being of a type, the type being one of a plurality of types of objects, the LiDAR system being communicatively coupled to an electronic device, the method executable by the electronic device, the method comprising:
acquiring, by the electronic device, a series of discrete digital values,
the series of discrete digital values being representative of an optical return pulse,
the optical return pulse corresponding to an optical output pulse (i) having been emitted by the LiDAR system and (ii) having returned to the LiDAR system after contacting the object;
accessing, by the electronic device, a pre-populated library stored in a memory for retrieving a resolution parameter for the object,
the library including a list of template pulse profiles,
a given one of the list of template pulse profiles being associated in the library with a respective test object, a respective resolution parameter of the respective test object, and a type of the respective test object from the plurality of types;
the accessing including:
determining, by the electronic device, similarity parameters between (i) the series of discrete digital values and (ii) respective ones of the list of template pulse profiles,
a given similarity parameter being determined between (i) the series of discrete digital values and (i) a respective template pulse profile from the list of template pulse profiles;
retrieving, by the electronic device from the library, at least the respective resolution parameter of the template pulse profile having a highest similarity parameter; and
using, by the electronic device, the respective resolution parameter of the template pulse profile having the highest similarity parameter for determining the distance of the object from the LiDAR system.