{
  "$type": "site.standard.document",
  "description": "An example method includes obtaining a LIDAR scan including a plurality of LIDAR points. The LIDAR scan being descriptive of an environment of an autonomous vehicle. The method includes obtaining a surfel map descriptive of the environment. The surfel map includes a plurality of surfels. The method…",
  "path": "/patents/1378544",
  "publishedAt": "2026-02-12T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01S17/931",
    "Aurora Operations, Inc."
  ],
  "textContent": "An example method includes obtaining a LIDAR scan including a plurality of LIDAR points. The LIDAR scan being descriptive of an environment of an autonomous vehicle. The method includes obtaining a surfel map descriptive of the environment. The surfel map includes a plurality of surfels. The method includes classifying each of the plurality of LIDAR points as an explained LIDAR point or an unexplained LIDAR point based on an alignment of the LIDAR scan to the surfel map, wherein an explained LIDAR point is a LIDAR point that matches a surfel in the surfel map. The method includes shifting the LIDAR scan along a longitudinal direction for a plurality of iterations. The method includes determining a longitudinal bias for each of the plurality of iterations. The method includes performing an operation for the autonomous vehicle based on the longitudinal bias.",
  "title": "Longitudinal Bias Correction in Autonomous Vehicles"
}