System and Method for Movement Detection

A computer-implemented method comprising:

• obtaining, by a computing system including one or more computing devices, image data and range data representing a scene external to an autonomous vehicle, the image data including at least a first image and a second image;
• determining, by the computing system, synchronized sensor data based at least in part on the image data and the range data,
• wherein the synchronized sensor data is based at least in part on a first time associated with the first image, a second time associated with the second image, one or more first range values in the range data associated with the first time, and one or more second range values in the range data associated with the second time;
• determining, by the computing system, state data that describes a state of the scene at one or more times based at least in part on the synchronized sensor data;
• and
• determining, by the computing system, at least one of a velocity or a position associated with an object in the scene based at least in part on the state data.

A computing system, comprising:

• one or more processors;
• and
• a computer-readable medium having instructions stored thereon that, when executed by the one or more processors, cause the computing system to perform one or more operations, the operations comprising:
• obtaining image data and range data representing a scene external to an autonomous vehicle, the image data including at least a first image and a second image;
• determining synchronized sensor data based at least in part on the image data and the range data,
• wherein the synchronized sensor data is based at least in part on a first time associated with the first image, a second time associated with the second image, one or more first range values in the range data associated with the first time, and one or more second range values in the range data associated with the second time;
• determining state data that describes a state of the scene at one or more times based at least in part on the synchronized sensor data;
• and
• determining at least one of a velocity or a position associated with an object in the scene based at least in part on the state data.

An autonomous vehicle comprising:

• one or more processors;
• and
• a computer-readable medium having instructions stored thereon that, when executed by the one or more processors, cause the autonomous vehicle to perform one or more operations, the operations comprising:
• obtaining image data and range data representing a scene external to the autonomous vehicle, the image data including at least a first image and a second image;
• determining synchronized sensor data based at least in part on the image data and the range data,
• wherein the synchronized sensor data is based at least in part on a first time associated with the first image, a second time associated with the second image, one or more first range values in the range data associated with the first time, and one or more second range values in the range data associated with the second time;
• determining state data that describes a state of the scene at one or more times based at least in part on the synchronized sensor data;
• and
• determining at least one of a velocity or a position associated with an object in the scene based at least in part on the state data.