Patent ID: 11933920
Assignee: WAYMO LLC
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A method comprising:
obtaining a plurality of scans of a field-of-view (FOV) of a light detection and ranging (LIDAR) device, wherein the LIDAR device is disposed inside a housing, and wherein obtaining each scan of the plurality of scans comprises:
transmitting, through a plurality of sections of the housing, a plurality of light pulses emitted from the LIDAR device in different directions toward the housing, and
detecting a plurality of returning light pulses comprising reflected portions of the transmitted plurality of light pulses that are reflected back toward the LIDAR device;

based on the plurality of scans, detecting an obstruction that at least partially occludes the LIDAR device from scanning the FOV through the housing, wherein detecting the obstruction comprises:
identifying an object scanned by the LIDAR device through a first section of the housing during a first scan of the plurality of scans and through a second section of the housing during a second scan of the plurality of scans; and
comparing a first portion of the first scan associated with the identified object to a second portion of the second scan associated with the identified object;

determining that the obstruction does not occlude the LIDAR device from scanning the FOV through one or more sections of the housing; and
identifying a particular section of the housing interposed between the LIDAR device and the obstruction.