System and method for tracking objects using using expanded bounding box factors
AssigneeToyota Research Institute, Inc.
InventorsJacopo SERAFIN, Matthew DERRY
Life of this patent
Estimating the term…
Abstract
Systems and methods of tracking objects around an ego vehicle, using state estimation of the objects, where state estimation may include an estimate of a position, velocity, acceleration and bounding box size of the tracked object are disclosed. An object may be detected at one or more poses over time. For each pose, a first bounding box may be generated. The largest bounding box may be determined. For each pose, the first bounding box may be expanded to an expanded bounding box. The expanded bounding box may match the largest bounding box. For each pose, the center of the expanded bounding box may be determined. The object may be tracked according to the center of the expanded bounding box.
Claims20
A method of tracking an object comprising:
- detecting an object at one or more poses over time;
- for each pose, generating a first bounding box;
- determining a largest bounding box;
- for each pose, expanding the first bounding box according to a radial direction vector to an expanded bounding box, the radial direction vector denoting a radial vector between a detecting vehicle and a center of the first bounding box of the object, the expanded bounding box matching the largest bounding box;
- for each pose, determining the center of the expanded bounding box;
- tracking the object according to the center of the expanded bounding box.
A system for tracking an object comprising:
- at least one sensor configured to detect an object at one or more poses;
- a processor in communication with the at least one sensor, the processor configured to:
- for each pose, generating a first bounding box;
- determine the largest bounding box;
- for each pose, expand the first bounding box to an expanded bounding box, the expanded bounding box matching the largest bounding box;
- for each pose, determine the center of the expanded bounding box;
- track the object according to the center of the expanded bounding box.
The method of claim 13 wherein the first direction is a projection of a radial direction vector on an object heading vector.
A vehicle comprising:
- at least one sensor configured to detect one or more poses of an object;
- an object tracking module configured to:
- for each pose, generating a first bounding box;
- determine the largest bounding box;
- for each pose, expanding the first bounding box according to a radial direction vector to an expanded bounding box, the radial direction vector denoting a radial vector between a detecting vehicle and a center of the first bounding box of the object the expanded bounding box matching the largest bounding box;
- for each pose, determine the center of the expanded bounding box;
- track the object according to the center of the expanded bounding box.
The vehicle of claim 19 wherein, for each node, the first bounding box is expanded in a first direction defined by a dot product of the radial direction vector and an object heading vector.
Dependencies are inferred from the claim text.