Patent ID: 11860304
Assignee: HUAWEI TECHNOLOGIES CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 3:
4. The method of claim 1, wherein determining the plurality of seed data points comprises:
for any two adjacent data points Pi and Pi+1 in the sparse 3D point cloud as measured by any two adjacent laser beams of the multi-laser spinning LIDAR sensor, wherein Pi and Pi+1 each occupies a respective element in two adjacent elements in a column of the range map, and wherein Pi has a set of coordinate values [xi,yi,zi] and Pi+1 has a set of coordinate values [xi+1,yi+1,zi+1] in a Cartesian coordinate system of the multi-laser spinning LIDAR sensor:
computing an inclination value represented by ϑ between the two adjacent data points in accordance with the formula, ϑ
   =
   
    atan
    (
    
     
      
       z
       
        i
        +
        1
       
      
      -
      
       z
       i
      
     
     
      
       
        
         x
         
          i
          +
          1
         
         2
        
        +
        
         y
         
          i
          +
          1
         
         2
        
       
      
      -
      
       
        
         x
         i
         2
        
        +
        
         y
         i
         2
        
       
      
     
    
    )
   
  
  ;
 

 and
when the value of ϑ is within a pre-defined inclination threshold, the two adjacent data points Pi and Pi+1 are determined to be seed data points.