System and methods for object detection and tracking using a lidar observation model
AssigneeAurora Operations, Inc.
InventorHilton Bristow
Life of this patent
Estimating the term…
Abstract
A system for detecting and tracking objects using lidar can include one or more processors configured to receive lidar data. The one or more processors can determine shape data from the lidar data. The shape data can be indicative of an object. The one or more processors can determine a plurality of extents of the object based on the shape data. The one or more processors can update a state of the object based on the plurality of extents, the state including a boundary of the object. The one or more processors can provide the state of the object to an autonomous vehicle controller to cause the autonomous vehicle controller to control an autonomous vehicle responsive to the state of the object.
Claims19
A method for detecting and tracking objects using lidar, comprising:
- receiving lidar data comprising a plurality of lidar data samples;
- determining shape data from the lidar data, the shape data indicative of an object, by assigning a particular lidar data sample of the lidar data to a particular bin of a plurality of bins based on a position of the particular lidar data sample, the plurality of bins arranged in a first direction and a second direction, the first direction along a direction of movement of an autonomous vehicle, the second direction perpendicular to the first direction;
- determining a plurality of extents of the object based on the shape data by identifying a plurality of first bins of the plurality of bins and a plurality of second bins of the plurality of bins as corresponding to a particular extent of the plurality of extents, the identifying based on a first count of the plurality of lidar data samples assigned to the plurality of first bins and a second count of the plurality of lidar data samples assigned to the plurality of second bins;
- updating a state of the object based at least in part on the plurality of extents, the state including a boundary of the object;
- and
- controlling an autonomous vehicle responsive to the state of the object.
A system for detecting and tracking objects using lidar, comprising:
- one or more processors configured to:
- receive lidar data comprising a plurality of lidar data samples;
- determine shape data from the lidar data, the shape data indicative of an object, by assigning a particular lidar data sample of the plurality of lidar data samples to a particular bin of a plurality of bins using position data corresponding to the particular lidar data sample, the plurality of bins arranged in a plurality of directions;
- determine a plurality of extents of the object based on the shape data by identifying a plurality of first bins of the plurality of bins and a plurality of second bins of the plurality of bins as corresponding to a particular extent of the plurality of extents, the identifying based on a first count of the plurality of first bins and a second count of the plurality of second bins;
- update a state of the object based on the plurality of extents, the state including a boundary of the object;
- and
- control an autonomous vehicle responsive to the state of the object.
A non-transitory computer-readable medium comprising instructions that, in response to execution of the instructions by one or more processors, cause one or more processors to perform the following operations:
- receiving lidar data comprising a plurality of lidar data samples;
- determining shape data from the lidar data, the shape data indicative of an object, by assigning a particular lidar data sample of the plurality of lidar data samples to a particular bin of a plurality of bins using position data corresponding to the particular lidar data sample, the plurality of bins arranged in a plurality of directions;
- determining a plurality of extents of the object based on the shape data by identifying a plurality of first bins of the plurality of bins and a plurality of second bins of the plurality of bins as corresponding to a particular extent of the plurality of extents, the identifying based on a first count of the plurality of first bins and a second count of the plurality of second bins;
- updating a state of the object based on the plurality of extents, the state including a boundary of the object;
- and
- controlling an autonomous vehicle responsive to the state of the object.
Dependencies are inferred from the claim text.