Surround vehicle tracking and motion prediction

A system, comprising:

• at least one data processor;
• and
• at least one memory storing instructions which, when executed by the at least one data processor, result in operations comprising:
• receiving, from one or more sensors positioned on a vehicle, data indicative of a detected object in an area at least partially surrounding the vehicle;
• fusing object proposals of the detected object identified from the received data to form a fused object proposal such that the fused object proposal is representative of the detected object, wherein fusing object proposals comprises:
• projecting the object proposals onto a global coordinate frame with respect to the vehicle;
• and
• combining, based on the projection of the object proposals, a subset of object proposals determined to belong to the detected object;
• generating a track of the detected object, wherein the track is based on the fused object proposal and updated received data indicative of the detected object;
• determining a maneuver class of the detected object, the maneuver class indicative of motion of the detected object and based on the generated track;
• determining a plurality of future trajectories for the detected object, the plurality of future trajectories based on the generated track and at least one of a motion model or a probabilistic model;
• and
• determining an expected future trajectory of the detected object based on the corresponding maneuver class and the plurality of future trajectories.

A non-transitory computer-readable storage medium including program code, which when executed by at least one data processor, causes operations comprising:

• receiving, by at least one data processor a processing and from one or more sensors positioned on a vehicle, data indicative of a detected object in an area at least partially surrounding the vehicle;
• fusing, by the at least one data processor, object proposals of the detected object identified from the received data to form a fused object proposal such that the fused object proposal is representative of the detected object, wherein fusing object proposals comprises:
• projecting, by the at least one data processor, the object proposals onto a global coordinate frame with respect to the vehicle;
• and
• combining, by the at least one data processor and based on the projection of the object proposals, a subset of object proposals determined to belong to the detected object;
• generating, by the at least one data processor, a track of the detected object, wherein the track is based on the fused object proposal and updated received data indicative of the detected object;
• determining, by the at least one data processor, a maneuver class of the detected object, the maneuver class indicative of motion of the detected object and based on the generated track;
• determining, by the at least one data processor, a plurality of future trajectories for the detected object, the plurality of future trajectories based on the generated track and at least one of a motion model or a probabilistic model;
• and
• determining, by the at least one data processor, an expected future trajectory of the detected object based on the corresponding maneuver class and the plurality of future trajectories.