Granted Patent B1

US 9,234,618 · App. 13/629,378 · Granted Jan 12, 2016

Abstract

Claims (66)

1. A method comprising:

causing a light detection and ranging (LIDAR) device associated with an autonomous vehicle to scan through a scanning zone while emitting light pulses based on a structured light pattern;

determining a three-dimensional (3-D) point map of the scanning zone based on time delays between emitting the light pulses and receiving corresponding returning reflected signals, based on orientations of the LIDAR device while emitting the light pulses, and further based on distortions in the returning reflected signals compared to the structured light pattern;

imaging, with a hyperspectral sensor associated with the autonomous vehicle, a region of the scanning zone corresponding to a plurality of reflective features indicated by the 3-D point map so as to generate spectral information characterizing a spectral distribution of radiation received from the reflective features;

correlating the spectral distribution of radiation received from a first reflective feature with one or more spectral characteristics of carbon monoxide;

in response to the correlating, determining the first reflective feature does not include a solid material;

analyzing the spectral information to determine whether a remainder of the reflective

features includes a solid material;

combining information from the LIDAR device and the hyperspectral sensor to generate a map of solid objects in the scanning zone, wherein reflective features determined to not include a solid material are not included in the map;

analyzing the positions of the solid objects in the map to identify obstacles relative to a current path of the autonomous vehicle;

determining a modified path of the autonomous vehicle that avoids the identified obstacles; and

controlling the autonomous vehicle to navigate along the modified path.

2. The method according to claim 1 , wherein analyzing the spectral information comprises:

correlating the spectral distribution of radiation received from a second reflective feature with one or more spectral characteristic of water or water vapor; and

in response to the correlating determining the second reflective feature does not include a solid material.

3. The method according to claim 1 , further comprising:

identifying the region of the scanning zone for spectral analysis responsive to associating a group of points included in the reflective feature with splashing water within the scanning zone.

4. The method according to claim 1 , further comprising:

identifying the region of the scanning zone for spectral analysis responsive to associating a group of points included in the reflective feature with water vapor within the scanning zone.

5. The method according to claim 1 , further comprising:

identifying the region of the scanning zone for spectral analysis responsive to associating a group of points included in the reflective feature with an exhaust plume within the scanning zone.

6. The method according to claim 1 , further comprising:

identifying the region of the scanning zone for spectral analysis responsive to failing to associate a group of points included in the reflective feature with a physical object within the scanning zone.

7. The method according to claim 1 , wherein the hyperspectral sensor is configured to detect radiation with wavelengths between 400 nm and 2500 nm.

8. The method according to claim 1 , wherein the LIDAR device is configured to complete a scan of the entire scanning zone during a scanning interval, and wherein the imaging the region is initiated during the scanning interval based on information indicative of returning reflected signals received during one or more previous scanning intervals.

9. An autonomous vehicle system comprising:

a light detection and ranging (LIDAR) device including:

a light source configured to be scanned through a scanning zone while emitting light pulses based on a structured light pattern; and

a light detector configured to receive returning reflected signals from reflective features in the scanning zone, if any;

a hyperspectral sensor configured to image selected regions of the scanning zone and to characterize spectral distributions of radiation received from the imaged regions; and

a controller configured to:

instruct the LIDAR device to scan the scanning zone while emitting light pulses;

receive information from the LIDAR device indicative of the time delays between the emission of the light pulses and the reception of corresponding returning reflected signals;

determine, based on the time delays and orientations of the LIDAR device while emitting the light pulses, and further based on distortions in the returning reflected signals compared to the structured light pattern; a three dimensional (3-D) point map;

instruct the hyperspectral sensor to image a region of the scanning zone corresponding to a plurality of reflective features indicated by the 3-D point map;

receive from the hyperspectral sensor spectral information characterizing a spectral distribution of radiation received from the plurality of reflective features;

correlate the spectral distribution of radiation received from a first reflective feature with one or more spectral characteristics of carbon monoxide; and

in response to the correlating, determining the first reflective feature does not include a solid material;

determine whether a remainder of the reflective features includes a solid material based on the spectral information;

combining information from the LIDAR device and the hyperspectral sensor to generate a map of solid objects in the scanning zone, wherein reflective features determined to not include a solid material are not included in the map;

analyze the positions of solid objects in the map to identify obstacles relative to a current path of the autonomous vehicle;

determine a modified path of the autonomous vehicle that avoids the identified obstacles; and

control the autonomous vehicle to navigate along the modified path.

10. The autonomous vehicle system according to claim 9 , wherein the controller is further configured to determine whether the remainder of the reflective features includes a solid material by:

correlating the spectral distribution of radiation received from a second reflective feature with one or more spectral characteristic of water or water vapor; and

in response to the correlating determining the second reflective feature does not include a solid material.

11. The autonomous vehicle system according to claim 9 , wherein the controller is further configured to:

identify the region of the scanning zone for spectral analysis responsive to associating a group of points included in the reflective feature with splashing water within the scanning zone.

12. The autonomous vehicle system according to claim 9 , wherein the controller is further configured to:

identify the region of the scanning zone for spectral analysis responsive to associating a group of points included in the reflective feature with water vapor within the scanning zone.

13. The autonomous vehicle system according to claim 9 , wherein the controller is further configured to:

identify the region of the scanning zone for spectral analysis responsive to associating a group of points included in the reflective feature with an exhaust plume within the scanning zone.

14. A computer readable medium storing instructions that, when executed by one or more processors in a computing device, cause the computing device to perform operations, the operations comprising:

scanning a light detection and ranging (LIDAR) device associated with an autonomous vehicle through a scanning zone while emitting light pulses based on a structured light pattern;

determining a three-dimensional (3-D) point map of the scanning zone based on time delays between emitting the light pulses and receiving corresponding returning reflected signals, based on orientations of the LIDAR device while emitting the light pulses, and further based on distortions in the returning reflected signals compared to the structured light pattern;

imaging, with a hyperspectral sensor associated with the autonomous vehicle, a region of the scanning zone corresponding to a plurality of reflective features indicated by the 3-D point map so as to generate spectral information characterizing a spectral distribution of radiation received from the reflective features;

correlating the spectral distribution of radiation received from a first reflective feature with one or more spectral characteristics of carbon monoxide;

in response to the correlating, determining the first reflective feature does not include a solid material;

analyzing the spectral information to determine whether a remainder of the reflective feature include a solid material

combining information from the LIDAR device and the hyperspectral sensor to generate a map of solid objects in the scanning zone, wherein reflective features determined to not include a solid material are not included in the map;

analyzing the positions of solid objects in the map to identify obstacles relative to a current path of the autonomous vehicle;

determining a modified path of the autonomous vehicle that avoids the identified obstacles; and

controlling the autonomous vehicle to navigate along the modified path.

15. The computer readable medium according to claim 14 , wherein the operations further comprise:

correlating the spectral distribution of radiation received from a second reflective feature with one or more spectral characteristics of water or water vapor; and

in response to the correlating, determining the second reflective feature does not include a solid material.

Assignments (6)