# US 12,181,613 B2 · System and method for adjusting bounding box dimensions > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,181,613 B2 - Document ID: US12181613B2 - Status: Granted - Kind: B2 - Application number: 17/731,790 - Filed: 2022-04-28 - Published: 2023-11-02 - Granted: 2024-12-31 - Earliest claimed: 2022-04-28 - Assignees: Toyota Research Institute, Inc.; Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Research Institute, Inc. - Inventors: Jacopo Serafin - Web page: https://patentgrep.com/patent/US12181613B2 ## CPC - G01S 7/497: Means for monitoring or calibrating - G01S 7/4802: {using analysis of echo signal for target characterisation; Target signature; Target cross-section} - G01S 7/4808: {Evaluating distance, position or velocity data} - G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) - G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders - G01S 17/89: for mapping or imaging - G01S 17/931: of land vehicles - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract Systems and methods for adjusting the dimensions of point clouds are described herein. In one example, a system includes a processor and a memory having instructions that, when executed by the processor, cause the processor to generate a bounding box using a point cloud generated by a sensor and adjust a dimension of the bounding box based on a magnitude of a viewing angle of a side of the bounding box with respect to the sensor. ## Claims ### Claim 1 A system comprising: a processor; and a memory in communication with the processor, the memory storing an adjustment module having instructions that, when executed by the processor, cause the processor to: generate a bounding box using a point cloud generated by a sensor, the bounding box representing an object, determine a confidence factor based on a magnitude of a viewing angle of a side of the bounding box with respect to the sensor, and adjust a dimension of the bounding box such that the side of the bounding box moves closer to the one or more points of the point cloud that correspond to the side of the bounding box by an adjustment distance, the adjustment distance being based on the confidence factor and is proportional to the confidence factor. ### Claim 2 (depends on 1) The system of claim 1, wherein the adjustment module further includes instructions that, when executed by the processor, cause the processor to adjust the dimension of the bounding box such that the side of the bounding box moves closer to points of the point cloud used to generate the bounding box based on the magnitude of the viewing angle of the side of the bounding box with respect to the sensor. ### Claim 3 (depends on 1) The system of claim 1, wherein the confidence factor is proportional to the magnitude of the viewing angle. ### Claim 4 (depends on 1) The system of claim 1, wherein the sensor is a LIDAR sensor and the point cloud is a LIDAR point cloud. ### Claim 5 (depends on 1) The system of claim 1, wherein the sensor is a camera sensor and the point cloud is a pseudo-LIDAR point cloud. ### Claim 6 (depends on 1) The system of claim 1, wherein the sensor is mounted to a vehicle. ### Claim 7 A method comprising steps of: generating a bounding box using a point cloud generated by a sensor, the bounding box representing an object; determining a confidence factor based on a magnitude of a viewing angle of a side of the bounding box with respect to the sensor; and adjusting a dimension of the bounding box such that the side of the bounding box moves closer to the one or more points of the point cloud that correspond to the side of the bounding box by an adjustment distance, the adjustment distance being based on the confidence factor and is proportional to the confidence factor. ### Claim 8 (depends on 7) The method of claim 7, further comprising the step of adjusting the dimension of the bounding box such that the side of the bounding box moves closer to points of the point cloud used to generate the bounding box based on the magnitude of the viewing angle of the side of the bounding box with respect to the sensor. ### Claim 9 (depends on 7) The method of claim 7, wherein the confidence factor is proportional to the magnitude of the viewing angle. ### Claim 10 (depends on 7) The method of claim 7, wherein the sensor is a LIDAR sensor and the point cloud is a LIDAR point cloud. ### Claim 11 (depends on 7) The method of claim 7, wherein the sensor is a camera sensor and the point cloud is a pseudo-LIDAR point cloud. ### Claim 12 (depends on 7) The method of claim 7, wherein the sensor is mounted to a vehicle. ### Claim 13 A non-transitory computer-readable medium storing instructions that, when executed by a processor, cause the processor to generate a bounding box using a point cloud generated by a sensor, the bounding box representing an object; determine a confidence factor based on a magnitude of a viewing angle of a side of the bounding box with respect to the sensor; and adjust a dimension of the bounding box such that the side of the bounding box moves closer to the one or more points of the point cloud that correspond to the side of the bounding box by an adjustment distance, the adjustment distance being based on the confidence factor and is proportional to the confidence factor. ### Claim 14 (depends on 13) The non-transitory computer-readable medium of claim 13, further storing instructions that, when executed by the processor, cause the processor to adjust the dimension of the bounding box such that the side of the bounding box moves closer to points of the point cloud used to generate the bounding box based on the magnitude of the viewing angle of the side of the bounding box with respect to the sensor. ### Claim 15 (depends on 13) The non-transitory computer-readable medium of claim 13, wherein the confidence factor is proportional to the magnitude of the viewing angle. ### Claim 16 (depends on 13) The non-transitory computer-readable medium of claim 13, wherein the sensor is a LIDAR sensor and the point cloud is a LIDAR point cloud. ### Claim 17 (depends on 13) The non-transitory computer-readable medium of claim 13, wherein the sensor is a camera sensor and the point cloud is a pseudo-LIDAR point cloud.