OBJECT DETECTION BASED ON LIDAR INTENSITY
FIG7 is a flowchart illustrating example operations performed as part of a method for performing vehicle localization based on one or more reflectance values inferred based on raw Lidar intensity values, according to some embodiments
FIG7 is a flowchart illustrating example operations performed as part of a method 700 for performing vehicle localization based on one or more reflectance values inferred based on raw Lidar intensity values, according to some embodiments. The method 700 may be embodied in computer-readable instructions for execution by a hardware component (e.g., a processor) such that the operations of the method 700 may be performed by one or more components of the AV system 100. Accordingly, the method 700 is described below, by way of example, with reference thereto. However, it shall be appreciated that the method 700 may be deployed on various other hardware configurations and is not intended to be limited to deployment on the AV system 100.
flowchart
7
at power level
710
described herein. At operation
705
At operation
715
computing systems. At operation
700
method methods
['9. A method comprising: collecting a data set comprising a plurality of data points output by a light detection and ranging (Lidar) unit of an autonomous vehicle, each of the data points corresponding to one of multiple targets, each target having a known reflectance value; generating a reflectance inference model for the Lidar unit based on the data set, the generating of the reflectance inference model comprising mapping the plurality of data points to a coordinate system using range and raw intensity values of each data point as coordinates; accessing, by a vehicle computing system of the autonomous vehicle, an incoming data point output by the Lidar unit during operation of the autonomous vehicle; inferring, using the reflectance inference model, a reflectance value of an object based on the incoming data point, the reflectance value being interpolated from at least two data points mapped to the coordinate system; and determining, by the vehicle computing system, a motion plan for the autonomous vehicle based on the inferred reflectance value, the motion plan of the autonomous vehicle being used to control motion of the autonomous vehicle.']