Patent ID: 11914044
Assignee: SUTENG INNOVATION TECHNOLOGY CO., LTD.
Field: Measurement (Instruments)
Classification: CPC G  Y | IPC G

Claim 4:
5. A point cloud densification apparatus, applied to a LiDAR, wherein the LiDAR comprises one or more emitter groups and a scanning apparatus, and the apparatus comprises:
a densification multiple obtaining module, configured to obtain a point cloud densification multiple of a detection field of view at each level;
an interval calculation module, configured to obtain an interval between scanning lines corresponding to two adjacent emissions based on the point cloud densification multiple of the detection field of view at each level; and
a scanning module, configured to perform scanning based on the interval between the scanning lines corresponding to the two adjacent emissions,
wherein the LiDAR is in a mode in which one emission corresponds to one reception, the point cloud densification multiple comprises a horizontal point cloud densification multiple and a vertical point cloud densification multiple, and the densification multiple obtaining module is configured to:
obtain an interval between scanning lines of each emitter group;
calculate a first product of multiplying a number of scanning lines of each emitter group by the interval between the scanning lines of each emitter group;
calculate a second product of multiplying the horizontal point cloud densification multiple by the vertical point cloud densification multiple; and
calculate a quotient of dividing the first product by the second product, to obtain the interval between the scanning lines corresponding to the two adjacent emissions.