CPC B60W 60/0011 (2020.02) [G01S 13/505 (2013.01); G01S 13/931 (2013.01); G06V 20/58 (2022.01); B60W 2420/52 (2013.01); G01S 2013/9321 (2013.01); G01S 2013/9327 (2020.01)] | 20 Claims |
1. A method comprising:
receiving, by a computing device of a sensing system of an autonomous vehicle (AV), data representative of a point cloud comprising a plurality of return points, each of the plurality of return points comprising a radial velocity value and position coordinates representative of a reflecting region that reflects a transmission signal emitted by one or more sensors of the sensing system;
applying, to each of the plurality of return points, at least one threshold condition related to whether the radial velocity value of a given return point is within a threshold radial velocity to identify a subset of return points within the plurality of return points;
removing the subset of return points from the point cloud to generate a filtered point cloud;
identifying objects represented by the remaining return points in the filtered point cloud; and
causing a driving path of the AV to be determined in view of the identified objects.
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