US 11,702,102 B2
Filtering return points in a point cloud based on radial velocity measurement
Mingcheng Chen, Sunnyvale, CA (US); Yunshan Jiang, Mountain View, CA (US); and Xiaoxiang Hu, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Nov. 19, 2020, as Appl. No. 16/952,930.
Prior Publication US 2022/0153297 A1, May 19, 2022
Int. Cl. B60W 60/00 (2020.01); G01S 13/931 (2020.01); G01S 13/50 (2006.01); G06V 20/58 (2022.01)
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
OG exemplary drawing
 
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.