Point cloud registration for lidar labeling

A system for detecting an object, the system comprising:

• one or more processors;
• and
• a computer-readable medium comprising instructions stored therein, which when executed by the processors, cause the processors to perform operations comprising:
• receiving three-dimensional (3D) Light Detection and Ranging (LiDAR) data of the object at a first time;
• generating a first point cloud based on the 3D LiDAR data at the first time;
• receiving 3D LiDAR data of the object at a second time;
• generating a second point cloud based on the 3D LiDAR data at the second time;
• aggregating the first point cloud and the second point cloud to form an aggregated point cloud;
• and
• placing a bounding box around the aggregated point cloud.

A non-transitory computer-readable storage medium comprising instructions stored therein, which when executed by one or more processors, cause the processors to perform operations comprising:

• receiving three-dimensional (3D) Light Detection and Ranging (LiDAR) data of the object at a first time;
• generating a first point cloud based on the 3D LiDAR data at the first time;
• receiving 3D LiDAR data of the object at a second time;
• generating a second point cloud based on the 3D LiDAR data at the second time;
• aggregating the first point cloud and the second point cloud to form an aggregated point cloud;
• and
• placing a bounding box around the aggregated point cloud.