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US 10,254,758 B2Granted
Object tracking by unsupervised learning
AssigneeFord Global Technologies, LLC
InventorKevin Wyffels
Life of this patent
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Abstract
A computing device in a vehicle can determine an object by determining a first rectangular bound centered on the object based on joint probabilities of first 3D data points, then determining the object by determining a second rectangular bound centered on the object based on joint Bayesian probabilities of second 3D data points conditioned on the first rectangular bound and piloting the vehicle based on the determined object.
Claims20
A method, comprising:
- receiving first and second pluralities of 3D data points at respective first and second times;
- determining a first rectangular bound for an object from the first plurality of 3D data points;
- determining a second rectangular bound centered on the object based on joint probabilities of points in the first rectangular bound and points in the second plurality of 3D data points;
- and
- piloting a vehicle based on the object.
2 more elements
An apparatus, comprising:
- a processor;
- a memory, the memory storing instructions executable by the processor to:
- receive first and second pluralities of 3D data points at respective first and second times;
- determine a first rectangular bound for an object from the first plurality of 3D data points;
- determine a second rectangular bound centered on the object based on joint probabilities of points in the first rectangular bound and points in the second plurality of 3D data points;
- and
- pilot a vehicle based on the object.
4 more elements
Dependencies are inferred from the claim text.