| 发明名称 | Method and apparatus for intensity calibration of multi-beam lidar sensors | ||
| 摘要 | A method of multi-beam Lidar intensity measurement calibration including determining, by a positioning device, position information of a moving platform within a global reference frame, collecting a plurality of data points, each data point including the position information and intensity information from a plurality of beams, segmenting the plurality of data points into a plurality of voxels, based on the position information associated with each data point, finding a subset of voxels in the plurality of voxels that include a point corresponding to a certain beam in the plurality of beams and an intensity value in a predetermined neighborhood of a certain intensity value, estimating a probability density based on the subset of voxels, and generating a calibration map that maps the certain intensity value of the certain beam to a calibrated intensity value for the certain beam, based on the probability density and a prior density. | ||
| 申请公布号 | US9046600(B2) | 申请公布日期 | 2015.06.02 |
| 申请号 | US201213705212 | 申请日期 | 2012.12.05 |
| 申请人 | Toyota Motor Engineering & Manufacturing North America, Inc. | 发明人 | James Michael R. |
| 分类号 | G01S17/42;G01S17/89;G01S7/497;G01C15/00 | 主分类号 | G01S17/42 |
| 代理机构 | Oblon, McClelland, Maier & Neustadt, L.L.P. | 代理人 | Oblon, McClelland, Maier & Neustadt, L.L.P. |
| 主权项 | 1. A method of multi-beam Lidar intensity measurement calibration comprising: determining, by a positioning device, position information of a moving platform within a global reference frame; collecting a plurality of data points, each data point including the position information and intensity information from a plurality of beams; segmenting the plurality of data points into a plurality of voxels, based on the position information associated with each data point; finding a subset of voxels in the plurality of voxels that include a point corresponding to a certain beam in the plurality of beams and an intensity value in a predetermined neighborhood of a certain intensity value; estimating a probability density based on the subset of voxels; and generating a calibration map that maps the certain intensity value of the certain beam to a calibrated intensity value for the certain beam to be used for at least one of positioning and localization of the moving platform, based on the probability density and a prior density. | ||
| 地址 | Erlanger KY US | ||