Systems and methods for presenting a reconstructed representation of a moving object detected in a scene

A non-transitory computer-readable medium comprising program instructions stored thereon that are executable to cause a computing system to perform functions comprising:

• identifying, in a three-dimensional (3D) point cloud that is representative of a real-world environment in which a vehicle was operating during a window of time, a set of 3D data points associated with an object detected in the real-world environment, wherein the set of 3D data points comprises different subsets of 3D data points corresponding to different capture times within the window of time;
• based at least on the set of 3D data points associated with the object, evaluating a trajectory of the object during the window of time and thereby determining that the object was in motion during at least a portion of the window of time;
• in response to determining that the object was in motion during at least a portion of the window of time, reconstructing the different subsets of 3D data points into a single, assembled 3D representation of the object;
• and
• generating a time-aggregated, 3D visualization of the real-world environment in which the vehicle was operating during the window of time that presents the single, assembled 3D representation of the object at one or more points along the trajectory of the object.

A computing system comprising:

• at least one processor;
• a non-transitory computer-readable medium;
• and
• program instructions stored on the non-transitory computer-readable medium that are executable by the at least one processor such that the computing system is configured to:
• identify, in a three-dimensional (3D) point cloud that is representative of a real-world environment in which a vehicle was operating during a window of time, a set of 3D data points associated with an object detected in the real-world environment, wherein the set of 3D data points comprises different subsets of 3D data points corresponding to different capture times within the window of time;
• based at least on the set of 3D data points associated with the object, evaluate a trajectory of the object during the window of time and thereby determining that the object was in motion during at least a portion of the window of time;
• in response to determining that the object was in motion during at least a portion of the window of time, reconstruct the different subsets of 3D data points into a single, assembled 3D representation of the object;
• and
• generate a time-aggregated, 3D visualization of the real-world environment in which the vehicle was operating during the window of time that presents the single, assembled 3D representation of the object at one or more points along the trajectory of the object.