Patent ID: 8818609
Filing Date: 2014-08-26
Classification: B60W,G01S,G05D

Abstract:
1. A method for identifying exhaust from a vehicle, the method comprising: receiving, by a computing device, information indicative of a light detection and ranging (LIDAR) scan of an environment including the vehicle, the LIDAR scan characterized by a scanning zone; generating, by the computing device, a point map of the scanning zone based on the received information, the point map comprising a plurality of points; generating, by the computing device, a density profile of the point map, the density profile indicative of density of one or more regions in the scanning zone characterized at one or more distances; generating, by the computing device, an elevation profile of the point map, the elevation profile indicative of elevation of the one or more features in the scanning zone characterized at one or more distances; and based on the density profile and the elevation profile, the computing device classifying regions of the scanning zone as including a surface of the vehicle or an exhaust gas from the vehicle.