Abstract: Methods and systems for laser point clouds are described herein. The method and system may include receiving, at a computing device, lidar data indicative of an environment of a vehicle from a first lidar data source, where the lidar data includes a first plurality of data points indicative of locations of reflections from the environment and further includes a respective intensity for each data point. The method and system also include determining a first surface normal for at least a first data point of the first plurality of data points. The method and system further includes determining a first angle of incidence for the first data point based on the surface normal. Additionally, the method and system includes adjusting the intensity of the first data point based on the first angle of incidence to create a first adjusted intensity for the first data point.

Abstract: A computing system may operate a LIDAR device to emit and detect light pulses in accordance with a time sequence including standard detection period(s) that establish a nominal detection range for the LIDAR device and extended detection period(s) having durations longer than those of the standard detection period(s). The system may then make a determination that the LIDAR detected return light pulse(s) during extended detection period(s) that correspond to particular emitted light pulse(s). Responsively, the computing system may determine that the detected return light pulse(s) have detection times relative to corresponding emission times of particular emitted light pulse(s) that are indicative of one or more ranges. Given this, the computing system may make a further determination of whether or not the one or more ranges indicate that an object is positioned outside of the nominal detection range, and may then engage in object detection in accordance with the further determination.

Abstract: The present disclosure relates to systems and methods involving Light Detection and Ranging (LIDAR or lidar) systems. Namely, an example method includes causing a light source of a LIDAR system to emit light along an emission vector. The method also includes adjusting the emission vector of the emitted light and determining an elevation angle component of the emission vector. The method further includes dynamically adjusting a per pulse energy of the emitted light based on the determined elevation angle component. An example system includes a vehicle and a light source coupled to the vehicle. The light source is configured to emit light along an emission vector toward an environment of the vehicle. The system also includes a controller operable to determine an elevation angle component of the emission vector and dynamically adjust a per pulse energy of the emitted light based on the determined elevation angle component.

Abstract: An example method involves detecting a sensor-testing trigger. Detecting the sensor-testing trigger may comprise determining that a vehicle is within a threshold distance to a target in an environment of the vehicle. The method also involves obtaining sensor data collected by a sensor of the vehicle after the detection of the sensor-testing trigger. The sensor data is indicative of a scan of a region of the environment that includes the target. The method also involves comparing the sensor data with previously-collected sensor data indicating detection of the target by one or more sensors during one or more previous scans of the environment. The method also involves generating performance metrics related to the sensor of the vehicle based on the comparison.

Abstract: One example system comprises a LIDAR sensor that rotates about an axis to scan an environment of the LIDAR sensor. The system also comprises one or more cameras that detect external light originating from one or more external light sources. The one or more cameras together provide a plurality of rows of sensing elements. The rows of sensing elements are aligned with the axis of rotation of the LIDAR sensor. The system also comprises a controller that operates the one or more cameras to obtain a sequence of image pixel rows. A first image pixel row in the sequence is indicative of external light detected by a first row of sensing elements during a first exposure time period. A second image pixel row in the sequence is indicative of external light detected by a second row of sensing elements during a second exposure time period.

Abstract: The present disclosure relates to systems and methods that facilitate light detection and ranging operations. An example method includes determining, for at least one light-emitter device of a plurality of light-emitter devices, a light pulse schedule. The plurality of light-emitter devices is operable to emit light along a plurality of emission vectors. The light pulse schedule is based on a respective emission vector of the at least one light-emitter device and a three-dimensional map of an external environment. The light pulse schedule includes at least one light pulse parameter and a listening window duration. The method also includes causing the at least one light-emitter device of the plurality of light-emitter devices to emit a light pulse according to the light pulse schedule. The light pulse interacts with an external environment.

Abstract: One example system comprises a LIDAR sensor that rotates about an axis to scan an environment of the LIDAR sensor. The system also comprises one or more cameras that detect external light originating from one or more external light sources. The one or more cameras together provide a plurality of rows of sensing elements. The rows of sensing elements are aligned with the axis of rotation of the LIDAR sensor. The system also comprises a controller that operates the one or more cameras to obtain a sequence of image pixel rows. A first image pixel row in the sequence is indicative of external light detected by a first row of sensing elements during a first exposure time period. A second image pixel row in the sequence is indicative of external light detected by a second row of sensing elements during a second exposure time period.

Abstract: A computing system may operate a LIDAR device to emit and detect light pulses in accordance with a time sequence including standard detection period(s) that establish a nominal detection range for the LIDAR device and extended detection period(s) having durations longer than those of the standard detection period(s). The system may then make a determination that the LIDAR detected return light pulse(s) during extended detection period(s) that correspond to particular emitted light pulse(s). Responsively, the computing system may determine that the detected return light pulse(s) have detection times relative to corresponding emission times of particular emitted light pulse(s) that are indicative of one or more ranges. Given this, the computing system may make a further determination of whether or not the one or more ranges indicate that an object is positioned outside of the nominal detection range, and may then engage in object detection in accordance with the further determination.

Abstract: A computing system may operate a LIDAR device to emit light pulses in accordance with a time sequence including a time-varying dither. The system may then determine that the LIDAR detected return light pulses during corresponding detection periods for each of two or more emitted light pulses. Responsively, the system may determine that the detected return light pulses have (i) detection times relative to corresponding emission times of a plurality of first emitted light pulses that are indicative of a first set of ranges and (ii) detection times relative to corresponding emission times of a plurality of second emitted light pulses that are indicative of a second set of ranges. Given this, the system may select between using the first set of ranges as a basis for object detection and using the second set of ranges as a basis for object detection, and may then engage in object detection accordingly.

Abstract: A high solids magnesium hydroxide slurry may be provided. The slurry may include a magnesium hydroxide compound and a carbohydrate-based viscosity control agent. The slurry may further include sea water as at least a portion of the liquid component. The high solids magnesium hydroxide slurry may be utilized in connection with exhaust scrubber systems for removing SOx and NOx compounds from exhaust gas emissions.

Abstract: Magnesium based cements are provided using one or more slurry precursors. In an embodiment, a method of forming a magnesium-based cement includes providing an aqueous slurry of a magnesium compound. A magnesium cement co-reactant is also provided. The aqueous slurry of the magnesium compound is mixed with the magnesium cement co-reactant to provide the magnesium-based cement.

Abstract: A high solids magnesium hydroxide slurry may be provided. The slurry may include a magnesium hydroxide compound and a carbohydrate-based viscosity control agent. The slurry may further include sea water as at least a portion of the liquid component. The high solids magnesium hydroxide slurry may be utilized in connection with exhaust scrubber systems for removing SOx and NOx compounds from exhaust gas emissions.

Abstract: In a method of analyzing an input video sequence, pixels of synthesized images of an output video sequence are associated with respective directions of regularity belonging to a predefined set of directions. A first subset of candidate directions is determined from the predefined set of directions for a region of a first image of the output sequence. For a corresponding region of a second synthesized image of the output sequence following the first image, a second subset of candidate directions is determined from the predefined set of directions, based on images of the input sequence and the first subset of candidate directions. The directions of regularity for pixels of this region of the second synthesized image are detected from the second subset of candidate directions. The recursive determination of the subsets of candidate directions provides a sparse geometry for efficiently analyzing the video sequence.

Abstract: In a method of analyzing an input video sequence, pixels of synthesized images of an output video sequence are associated with respective directions of regularity belonging to a predefined set of directions. A first subset of candidate directions is determined from the predefined set of directions for a region of a first image of the output sequence. For a corresponding region of a second synthesized image of the output sequence following the first image, a second subset of candidate directions is determined from the predefined set of directions, based on images of the input sequence and the first subset of candidate directions. The directions of regularity for pixels of this region of the second synthesized image are detected from the second subset of candidate directions. The recursive determination of the subsets of candidate directions provides a sparse geometry for efficiently analyzing the video sequence.

Abstract: In a method of analyzing an input video sequence, pixels of synthesized images of an output video sequence are associated with respective directions of regularity belonging to a predefined set of directions. A first subset of candidate directions is determined from the predefined set of directions for a region of a first image of the output sequence. For a corresponding region of a second synthesized image of the output sequence following the first image, a second subset of candidate directions is determined from the predefined set of directions, based on images of the input sequence and the first subset of candidate directions. The directions of regularity for pixels of this region of the second synthesized image are detected from the second subset of candidate directions. The recursive determination of the subsets of candidate directions provides a sparse geometry for efficiently analyzing the video sequence.

Abstract: An information display system for targeting information to a plurality of viewers proximate to an information display includes at least one sensor for determining features of a subset of the plurality of viewers. The sensor(s) include at least a visual sensor for determining one or more physical features of the viewers, or an audio sensor for determining one or more audible features of the viewers. The information display system further includes a database comprising a plurality of information files, where each information file is targeted to at least one class of viewers associated with at least one physical feature or audible feature. An information file selection module selects one or more information files to display on the information display, based upon at least one determined feature of the subset of the plurality of viewers.

Abstract: A method determines a random permutation of input lines that produced a permuted set of bits in a bitstream. In a source design, the method replaces a logic element whose input lines are permutable with a test function. The source design is processed by a design tool to generate the bitstream including the permuted set of bits. The test function is probed with test values, and the probe results are compared with the permuted set of bits to discover the permutation of the set of bits. The test values can include a message.

Abstract: In a relaxed bus protocol for transferring bursts of data from a slow device to another device, a predictor generates an advance signal. The advance signal is used to load next data into an output register of the slow device, the next data can then be transferred to the other device. A validator/corrector receiving a ready signal from the second device, the validator/corrector determines that the advance signal is correctly generated by the predictor. Heuristics and a higher level protocol adjust the size and frequency of the bursts of data to achieve optimal performance, and maintain correctness of transmitted data.