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

Claim 2:
3. The method of claim 1, wherein the sparse 3D point cloud is represented in a spherical coordinate system of the LIDAR unit, each data point Pi in the plurality of data points has a set of coordinate values [ri, ω1, αi], wherein:
ri represents a radial distance between an origin of the spherical coordinate system and the data point Pi;
ωi represents an elevation angle of the data point Pi;
αi represents the Azimuth angle of the data point Pi; and
Pi has a corresponding set of Cartesian coordinate values [xi,yi,zi] determined based on:

xi=ri cos ωi cos αi,

yi=ri cos ωi sin αi, and

zi=ri sin ωi.