System and method for object reconstruction and automatic motion-based object classification

A method comprising, during a first time period:

• accessing a first depth map generated by a depth sensor arranged on a vehicle, the first depth map comprising a first set of pixels representing relative positions of a first set of surfaces relative to a field of view of the depth sensor and annotated with radial velocities of the first set of surfaces at a first time;
• detecting a first cluster of pixels, in the first set of pixels, exhibiting congruent radial velocities;
• accessing a second depth map generated by the depth sensor, the second depth map comprising a second set of pixels representing relative positions of a second set of surfaces relative to the field of view of the depth sensor and annotated with radial velocities of the second set of surfaces at a second time;
• detecting a second cluster of pixels, in the second set of pixels, exhibiting congruent radial velocities;
• correlating the first cluster of pixels and the second cluster of pixels with a first object in the field of view of the depth sensor;
• aggregating the first cluster of pixels and the second cluster of pixels into a first three-dimensional object representation of the first object;
• accessing a first geometry, of a first object class, representing a first group of three-dimensional object representations characteristic of analogous object geometries;
• classifying the first object into the first object class based on congruence between the first three-dimensional object representation of the first object and the first geometry of the first object class;
• characterizing motion of the first object at the second time based on positions and radial velocities of surfaces represented by the first cluster of pixels and the second cluster of pixels;
• accessing a first set of motion characteristics of the first object class;
• calculating a future state boundary of the first object, representing a ground area accessible to the first object at a third time succeeding the second time, based on:
• the motion of the first object at the second time;
• and
• the first set of motion characteristics of the first object class;
• assigning a first risk level to the first object based on the motion of the first object at the second time;
• and
• at a controller, generating a first motion command that controls a set of actuators of the vehicle based on the future state boundary of the first object.

A method comprising, at a controller of a vehicle during a first time period:

• accessing a first depth map generated by a depth sensor arranged on a vehicle, the first depth map comprising a first set of pixels representing relative positions of a first set of surfaces relative to a field of view of the depth sensor and annotated with radial velocities of the first set of surfaces at a first time;
• detecting a first cluster of pixels, in the first set of pixels, exhibiting congruent radial velocities;
• accessing a second depth map generated by the depth sensor, the second depth map comprising a second set of pixels representing relative positions of a second set of surfaces relative to the field of view of the depth sensor and annotated with radial velocities of the second set of surfaces at a second time;
• detecting a second cluster of pixels, in the second set of pixels, exhibiting congruent radial velocities;
• correlating the first cluster of pixels and the second cluster of pixels with a first object in the field of view of the depth sensor;
• aggregating the first cluster of pixels and the second cluster of pixels into a first three-dimensional object representation of the first object;
• accessing a first geometry, of a first object class, representing a first group of three-dimensional object representations characteristic of analogous object geometries;
• classifying the first object into the first object class based on congruence between the first three-dimensional object representation of the first object and the first geometry of the first object class;
• characterizing motion of the first object at the second time based on positions and radial velocities of surfaces represented by the first cluster of pixels and the second cluster of pixels;
• in response to detecting a first set of operating conditions, accessing a first set of motion characteristics, of the first object class, associated with the first set of operating conditions;
• accessing a first avoidance distance associated with the first set of operating conditions;
• and
• at a controller, generating a first motion command that controls a set of actuators of the vehicle according to the first avoidance distance.