Patent ID: 9046600
Filing Date: 2015-06-02
Classification: G01C,G01S

Abstract:
1. A method of multi-beam Lidar intensity measurement calibration comprising: determining, by a positioning device, position information of a moving platform within a global reference frame; collecting a plurality of data points, each data point including the position information and intensity information from a plurality of beams; segmenting the plurality of data points into a plurality of voxels, based on the position information associated with each data point; finding a subset of voxels in the plurality of voxels that include a point corresponding to a certain beam in the plurality of beams and an intensity value in a predetermined neighborhood of a certain intensity value; estimating a probability density based on the subset of voxels; and generating a calibration map that maps the certain intensity value of the certain beam to a calibrated intensity value for the certain beam to be used for at least one of positioning and localization of the moving platform, based on the probability density and a prior density.