{
  "$type": "site.standard.document",
  "description": "A method for processing point clouds having variable spatial distributions of scan lines includes receiving a point cloud frame generated by a sensor configured to sense a vehicle environment. Each of the points in the frame has associated two-dimensional coordinates and an associated parameter…",
  "path": "/patents/1236247",
  "publishedAt": "2019-06-13T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01S17/89",
    "LUMINAR TECHNOLOGIES, INC."
  ],
  "textContent": "A method for processing point clouds having variable spatial distributions of scan lines includes receiving a point cloud frame generated by a sensor configured to sense a vehicle environment. Each of the points in the frame has associated two-dimensional coordinates and an associated parameter value. The method also includes generating a normalized point cloud frame by adding interpolated points not present in the received frame, at least by, for each interpolated point, identifying one or more neighboring points having associated two-dimensional coordinates that are within a threshold distance of two-dimensional coordinates for the interpolated point, and calculating an estimated parameter value of the interpolated point using, for each of the identified neighboring points, a distance between the two-dimensional coordinates and the parameter value associated with the identified neighboring point. The method also includes generating, using the normalized point cloud frame, signals descriptive of a current state of the vehicle environment.",
  "title": "PROCESSING POINT CLOUDS OF VEHICLE SENSORS HAVING VARIABLE SCAN LINE DISTRIBUTIONS USING TWO-DIMENSIONAL INTERPOLATION AND DISTANCE THRESHOLDING"
}