公开(公告)号：US20230401680A1

公开(公告)日：2023-12-14

申请号：US17806804

申请日：2022-06-14

Applicant: Kodiak Robotics, Inc.

Inventor： Derek J. Phillips ,  David Peng

IPC: G06T5/00 ,  G06T7/73

CPC classification number: G06T5/006 ,  G06T7/75 ,  G06T2207/20024 ,  G06T2207/10028

Abstract: Systems and methods are provided for filtering atmospheric conditions from LiDAR point clouds. The method includes generating, using a LiDAR system, at least one point cloud, wherein the LiDAR system includes a processor. The method further includes, using the processor, identifying and isolating one or more ground points within a point cloud of the at least one point cloud, wherein the one or more ground points indicate a ground portion within an environment of the point cloud, filtering out the ground portion from the point cloud, generating an initial processed point cloud, identifying and isolating one or more atmospheric condition points within the initial processed point cloud, wherein the one or more atmospheric condition points indicate one or more atmospheric conditions within an environment of the processed point cloud, and filtering out the atmospheric condition points from the initial processed point cloud, generating a final processed point cloud.