SYSTEMS AND METHODS FOR DETERMINING THE VELOCITY OF LIDAR POINTS
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United States of America Patent
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Nov 21, 2017
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Nov 21, 2017
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A processor-implemented method in a vehicle for detecting the motion of lidar points includes: constructing a sequence of voxel grids surrounding the vehicle at each of a plurality of successive time increments wherein the sequence of voxel grids includes a voxel grid for the current time and a voxel grid for each of a plurality of past time instances, tracing in each voxel grid in the sequence, lidar beams from a lidar system on the vehicle through the voxel grid, analyzing differences across the sequence of voxel grids to produce a motion score for a plurality of regions in the voxel grid for the current time that characterizes the degree of motion in the region over the successive time increments, summing the motion scores of the regions across columns to produce a summed motion score for each column of regions, and producing a 2D image from the summed motion scores.
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