Patent ID: 11971484
Assignee: LUMINAR TECHNOLOGIES, INC.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 10:
11. A vehicle comprising:
two wheels;
a chassis;
a propulsion system; and
a lidar system comprising:
a light source configured to emit optical pulses using a plurality of pulse intervals (PIs) comprising a first PI and a second PI, wherein the first PI and the second PI are not equal;
a receiver configured to detect a plurality of input optical pulses; and
a processor configured to:
generate a plurality of pixels, wherein each pixel of the plurality of pixels corresponds to one of the plurality of input optical pulses and is associated with one of the PIs;
determine, for a particular pixel of the plurality of pixels, a group of nearby pixels; and
determine whether the particular pixel is range-wrapped based at least in part on the PI associated with each pixel of the group of nearby pixels, wherein determining whether the particular pixel is range-wrapped comprises determining a pixel-disparity metric (PDM) based on the PIs associated with the pixels located within the group of nearby pixels, wherein the PDM corresponds to a likelihood or probability that the particular pixel is range-wrapped.