Group object-tracking

Abstract

A system, including a processor and a memory, the memory including instructions to be executed by the processor to identify first object features from sensor data acquired by a stationary sensor at a first time step, determine second object features at a second time step. The instructions can include further instructions to determine one or more object clusters of first object features by determining distances measured in pixels between the first object features and corresponding second object features and comparing the distances to one or more mean distances and determine one or more object groups of inlier first object features in the one or more object clusters by determining a plurality of similarity transformations for a plurality of random samples of first object features and determining inlier first object features based on maximizing the number of first object features included in a similarity transformation, wherein the similarity transformation includes translation, rotation, and scaling that transforms a set of first object features into a set of second object features. The instruction can include further instruction to determine tracking data for the one or more object groups based on locations of the object groups and provide the tracking data for the second object cluster to a vehicle.

Dependencies are inferred from the claim text.