Track segment cleaning of tracked objects

A system comprising:

• at least one processor, and
• at least one non-transitory storage media storing instructions that, when executed by the at least one processor, cause the at least one processor to perform operations comprising:
• detecting a first track segment and a second track segment;
• determining that the first track segment and the second track segment are representative of an identical object exterior to a vehicle;
• determining a stitching score between the first track segment and the second track segment, the stitching score indicative of a likelihood that combining the first track segment and the second track segment is representative of a single trajectory of the identical object exterior to the vehicle;
• and
• in response to the first track segment and the second track segment being determined to be representative of the identical object by the stitching score satisfying a stitching score threshold, combining the first track segment and the second track segment to form a single track segment comprising the single trajectory and a single cloud-point feature.

A non-transitory computer-readable storage medium comprising at least one program for execution by one or more processors of a first device, the at least one program including instructions which, when executed by the one or more processors, cause the first device to perform operations comprising:

• detecting a first track segment and a second track segment;
• determining that the first track segment and the second track segment are representative of an identical object exterior to a vehicle;
• determining a stitching score between the first track segment and the second track segment, the stitching score indicative of a likelihood that combining the first track segment and the second track segment is representative of a single trajectory of the identical object exterior to the vehicle;
• and
• in response to the first track segment and the second track segment being determined to be representative of the identical object by the stitching score satisfying a stitching score threshold, combining the first track segment and the second track segment to form a single track segment comprising the single trajectory and a single cloud-point feature.