System for localizing three-dimensional objects

A method for localizing an object relative to a vehicle, comprising:

• receiving two-dimensional (2D) data and a three-dimensional (3D) point cloud of an environment external to the vehicle from at least one sensor, wherein the 3D point cloud includes object points associated with a stationary traffic control object;
• selecting a bounding box associated with the stationary traffic control object based on the 2D data;
• arranging the bounding box proximate to the object points in the 3D point cloud;
• assigning a weight to each point of the 3D point cloud based on a position of the point relative to the bounding box;
• filtering the weighted points;
• and
• generating a 3D location of the stationary traffic control object based on the filtered points.

A non-transitory computer-readable medium having instructions stored thereon that, when executed by at least one computing device, cause the at least one computing device to perform operations comprising:

• selecting a bounding box associated with a stationary traffic control object based on two-dimensional (2D) data;
• arranging the bounding box proximate to object points in a three-dimensional (3D) point cloud of an environment external to a vehicle, wherein the object points are associated with the stationary traffic control object;
• assigning a weight to each point of the 3D point cloud based on a position of the point relative to the bounding box;
• filtering the weighted points;
• and
• generating a 3D location of the stationary traffic control object based on the filtered points.