Object contour determination

A method comprising:

• receiving sensor data associated with an object;
• identifying a bounding box associated with an object identified in the sensor data;
• expanding, as an expanded bounding box, a size of the bounding box;
• and
• capturing additional sensor data within the expanded bounding box
• determining a convex hull based on a subset of the sensor data and the additional sensor data, wherein the convex hull comprises a plurality of boundary edges;
• determining a longest boundary edge, wherein the longest boundary edge has a first endpoint and a second endpoint;
• determining an interior point in an interior of the convex hull;
• replacing the longest boundary edge with:
• a first segment based on the first endpoint and the interior point;
• and
• a second segment based on the interior point and the second endpoint;
• and
• determining a bounding contour based on the first segment and the second segment.

One or more non-transitory computer-readable media storing instructions that, when executed, cause one or more processors to perform operations comprising:

• receiving sensor data associated with an object;
• identifying a bounding box associated with an object identified in the sensor data;
• expanding, as an expanded bounding box, a size of the bounding box;
• capturing additional sensor data within the expanded bounding box;
• determining a convex hull based on a subset of the sensor data and the additional sensor data, wherein the convex hull comprises a plurality of boundary edges;
• determining a longest boundary edge, wherein the longest boundary edge has a first endpoint and a second endpoint;
• determining an interior point in an interior of the convex hull;
• replacing the longest boundary edge with:
• a first segment based on the first endpoint and the interior point;
• and
• a second segment based on the interior point and the second endpoint;
• and
• determining a bounding contour based on the first segment and the second segment.