Abstract: Method and device for processing LIDAR sensor data are disclosed. The method includes: receiving a first dataset and a second dataset having pluralities of data points; matching at least some of the plurality of first points with at least some of the plurality of second points, thereby determining a plurality of pairs; for the given one of the plurality of pairs, determining a pair-specific filtering parameter by calculating neighbour beam distances between the given first data point and respective ones the set of neighboring points, a given neighbour beam distance being representative of a linear distance between the given first data point and a respective one of the set of neighbouring points; in response to the pair-specific parameter being positive, excluding the given one of the plurality of pairs from further processing; and processing the reduced plurality of pairs for merging the first dataset and the second dataset.

Abstract: Method and device for processing LIDAR sensor data are disclosed. The method includes (i) receiving from the LIDAR sensor a first dataset having a plurality of first data points representative of respective coordinates and associated with respective normal vectors, (ii) determining an uncertainty parameter for a given first data point based on a normal covariance of the normal vector of the given first data point where the normal covariance takes into account a measurement error of the LIDAR sensor when determining the respective coordinates of the given first data point, (iii) in response to the uncertainty parameter being above a pre-determined threshold, excluding the given first data point from the plurality of first data points, (iv) using the filtered plurality of first data points, instead of the plurality of first data points, for merging the first dataset of the LIDAR sensor with a second dataset of the LIDAR sensor.

Abstract: Methods and server for updating a map representation of a geographical region is disclosed. For a given timestamp along a past trajectory of the SDC when the SDC has been located at a given location in the geographical region, the method includes: generating, using a localization algorithm, a set of candidate locations using a set of point clouds and the map representation, determining, using a convergence metric, a parameter for evaluating quality of localization of the localization algorithm when the SDC is located in the candidate portion of the map representation, identifying, using the parameter, the candidate portion of the map representation as an outdated portion of the map representation, and updating the outdated portion of the map representation using point cloud data captured by the LIDAR system.

Abstract: Method and device for processing LIDAR sensor data are disclosed. The method includes (i) receiving from the LIDAR sensor a first dataset having a plurality of first data points representative of respective coordinates and associated with respective normal vectors, (ii) determining an uncertainty parameter for a given first data point based on a normal covariance of the normal vector of the given first data point where the normal covariance takes into account a measurement error of the LIDAR sensor when determining the respective coordinates of the given first data point, (iii) in response to the uncertainty parameter being above a pre-determined threshold, excluding the given first data point from the plurality of first data points, (iv) using the filtered plurality of first data points, instead of the plurality of first data points, for merging the first dataset of the LIDAR sensor with a second dataset of the LIDAR sensor.

Abstract: Method and device for processing LIDAR sensor data are disclosed. The method includes: receiving a first dataset and a second dataset having pluralities of data points; matching at least some of the plurality of first points with at least some of the plurality of second points, thereby determining a plurality of pairs; for the given one of the plurality of pairs, determining a pair-specific filtering parameter by calculating neighbour beam distances between the given first data point and respective ones the set of neighboring points, a given neighbour beam distance being representative of a linear distance between the given first data point and a respective one of the set of neighbouring points; in response to the pair-specific parameter being positive, excluding the given one of the plurality of pairs from further processing; and processing the reduced plurality of pairs for merging the first dataset and the second dataset.

Abstract: An apparatus for recognizing an iris is provided. The apparatus includes an image acquisition module configured to acquire a plurality of images, and a processor configured to select at least one image for iris recognition from among the plurality of images based on pupil information of each of the plurality of images, and recognize an iris in at least one image, wherein the pupil information includes at least one of information about a pupil radius and information about a pupil contrast.

Abstract: A user recognition method that uses an iris is provided. The user recognition method includes generating a first mask for blocking a non-iris object area of an iris image, generating a converted iris image, in which the non-iris object area is blocked according to the first mask, generating a second mask for additionally blocking an inconsistent area, in which quantization results of the converted iris image are inconsistent, by adaptively transforming the first mask according to features of the converted iris image, obtaining an iris code by quantizing pixels included in the iris image, obtaining a converted iris code, in which portions corresponding to the non-iris object area and the inconsistent area are blocked, by applying the second mask to the iris code, and recognizing a user by matching a reference iris code, stored by the user in advance, to the converted iris code.

Abstract: An apparatus for recognizing an iris is provided. The apparatus includes an image acquisition module configured to acquire a plurality of images, and a processor configured to select at least one image for iris recognition from among the plurality of images based on pupil information of each of the plurality of images, and recognize an iris in at least one image, wherein the pupil information includes at least one of information about a pupil radius and information about a pupil contrast.

Abstract: A user recognition method that uses an iris is provided. The user recognition method includes generating a first mask for blocking a non-iris object area of an iris image, generating a converted iris image, in which the non-iris object area is blocked according to the first mask, generating a second mask for additionally blocking an inconsistent area, in which quantization results of the converted iris image are inconsistent, by adaptively transforming the first mask according to features of the converted iris image, obtaining an iris code by quantizing pixels included in the iris image, obtaining a converted iris code, in which portions corresponding to the non-iris object area and the inconsistent area are blocked, by applying the second mask to the iris code, and recognizing a user by matching a reference iris code, stored by the user in advance, to the converted iris code.