A system and method for for determining a degree of point cloud data degradation of a LiDAR sensor of a Self-Driving Car (SDC) using a machine-learning algorithm (MLA) are provided. The method comprises: determining, based on a training point cloud generated by the LiDAR sensor representative of surroundings of the SDC, a plurality of LiDAR features; determining, for each training object in the surroundings, based on statistical data of coverage of training objects with LiDAR points, a plurality of enrichment features; receiving a respective label indicative of a degradation degree of the training point cloud; generating, based on the plurality of LiDAR features, the plurality of enrichment features, and the respective label, a given feature vector of a plurality of feature vectors; training, based on the plurality of feature vectors, the MLA to determine an in-use degree of degradation of in-use sensed data further generated by the LiDAR sensor.

A object detection apparatus may include: an object detection sensor having a cover for protecting the object detection sensor from foreign matter, and configured to sense a target object by transmitting a scan signal to the target object and receiving a sensing signal reflected from the target object; a protection film part including a protection film disposed on an outer surface of the cover to prevent contamination of the cover by foreign matter; and a control unit configured to replace the protection film disposed on the outer surface of the cover through a winding operation for the protection film part when a protection film replacement condition is satisfied due to contamination of the protection film, in order to prevent a reduction in sensing performance of the object detection sensor due to contamination by foreign matter.

A object detection apparatus may include: an object detection sensor having a cover for protecting the object detection sensor from foreign matter, and configured to sense a target object by transmitting a scan signal to the target object and receiving a sensing signal reflected from the target object; a protection film part including a protection film disposed on an outer surface of the cover to prevent contamination of the cover by foreign matter; and a control unit configured to replace the protection film disposed on the outer surface of the cover through a winding operation for the protection film part when a protection film replacement condition is satisfied due to contamination of the protection film, in order to prevent a reduction in sensing performance of the object detection sensor due to contamination by foreign matter.

A LIDAR-to-vehicle alignment system includes a memory and alignment and autonomous driving modules. The memory stores points of data provided based on an output of one or more LIDAR sensors and localization data. The alignment module performs an alignment process including: based on the localization data; determining whether a host vehicle is turning; in response to the host vehicle turning; selecting a portion of the points of data; aggregating the selected portion to provide aggregated data; selecting targets based on the aggregated data; and based on the selected targets, iteratively reducing a loss value of a loss function to provide a resultant LIDAR-to-vehicle transformation matrix. The autonomous driving module: based on the resultant LIDAR-to-vehicle transformation matrix, converts at least the selected portion to at least one of vehicle coordinates or world coordinates to provide resultant data; and performs one or more autonomous driving operations based on the resultant data.

A light detection and ranging (LIDAR) device including a laser source configured to provide a transmit beam, the laser source being positioned with a first offset relative to a reference line, a transmit/receive (T/R) interface configured to pass the transmit beam and reflect received light towards a detector, the T/R interface being positioned with a second offset relative to the reference line, and a lens positioned between the laser source and the T/R interface, the lens being positioned with a third offset relative to the reference line, wherein the laser source and the lens, as positioned, are configured to steer the transmit beam.

A light detection and ranging (LIDAR) device including a laser source configured to provide a transmit beam, the laser source being positioned with a first offset relative to a reference line, a transmit/receive (T/R) interface configured to pass the transmit beam and reflect received light towards a detector, the T/R interface being positioned with a second offset relative to the reference line, and a lens positioned between the laser source and the T/R interface, the lens being positioned with a third offset relative to the reference line, wherein the laser source and the lens, as positioned, are configured to steer the transmit beam.

Various measurement systems and methods are disclosed to enable characterizing the optical characteristics of light beams emitted by a light detection and range finding (LIDAR) system or sensor and evaluating the range finding function of user selected lidar channels while the lidar operates under a real operational condition and is exposed to a range of user defined environmental conditions.

A method includes: deriving a first absolute motion of the first optical sensor based on radial positions, azimuthal positions, radial distances, and radial velocities of points in a first cluster of points representing a first static reference surface in a first frame captured by the first optical sensor; deriving a second absolute motion of the second optical sensor based on radial positions, azimuthal positions, radial distances, and radial velocities of points in a first cluster of points representing a first static reference surface in a second frame captured by the second optical sensor; calculating a rotational offset between the first optical sensor and the second optical sensor based on the first absolute motion and the second absolute motion; and aligning a third frame captured by the first optical sensor with a fourth frame captured by the second optical sensor based on the rotational offset.

A method includes: deriving a first absolute motion of the first optical sensor based on radial positions, azimuthal positions, radial distances, and radial velocities of points in a first cluster of points representing a first static reference surface in a first frame captured by the first optical sensor; deriving a second absolute motion of the second optical sensor based on radial positions, azimuthal positions, radial distances, and radial velocities of points in a first cluster of points representing a first static reference surface in a second frame captured by the second optical sensor; calculating a rotational offset between the first optical sensor and the second optical sensor based on the first absolute motion and the second absolute motion; and aligning a third frame captured by the first optical sensor with a fourth frame captured by the second optical sensor based on the rotational offset.

A light detection and ranging (LIDAR) device including a plurality of laser sources configured to provide a plurality of transmit beams, each laser source being positioned with a respective offset of a first plurality of offsets relative to a reference line, a plurality of transmit/receive (T/R) interfaces configured to pass the plurality of transmit beams and reflect received light towards a plurality of detectors, each T/R interface being positioned with a respective offset of a second plurality of offsets relative to the reference line, and a plurality of lenses positioned between the plurality of laser sources and the plurality of T/R interfaces, each lens being positioned with a respective offset of a third plurality of offsets relative to the reference line, wherein the plurality of laser sources and the plurality of lenses, as positioned, are configured to provide beam-steering of the plurality of transmit beams.