Enhanced static object classification using lidar
AssigneeFord Global Technologies, LLC
InventorKevin Wyffels
Life of this patent
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Abstract
Devices, systems, and methods are provided for classifying detected objects as static or dynamic. A device may determine first light detection and ranging (LIDAR) data associated with a convex hull of an object at a first time, and determine second LIDAR data associated with the convex hull at a second time after the first time. The device may generate, based on the first LIDAR data and the second LIDAR data, a vector including values of features associated with the first convex hull and the second convex hull. The device may determine, based on the vector, a probability that the object is static. The device may operate a machine based on the probability that the object is static.
Claims20
A method for classifying objects as static or dynamic, the method comprising:
- generating, based on first LIDAR data associated with a convex hull of an object at a first time and second LIDAR data associated with the convex hull at a second time after the first time, a vector comprising values of features associated with the convex hull;
- comparing a probability associated with the object to a threshold level to determine whether the object is static or dynamic, wherein the probability is based on the vector;
- and
- setting a length of a buffer that stores the second LIDAR data based on whether the probability indicates the object is static or dynamic.
A system comprising:
- a memory;
- and
- a processor coupled to the memory and configured to:
- generate, based on first LIDAR data associated with a convex hull of an object at a first time and second LIDAR data associated with the convex hull at a second time after the first time, a vector comprising values of features associated with the convex hull;
- compare a probability associated with the object to a threshold level to determine whether the object is static or dynamic, wherein the probability is based on the vector;
- and
- set a length of a buffer that stores the second LIDAR data based on whether the probability indicates the object is static or dynamic.
A non-transitory computer-readable medium having instructions stored thereon that, when executed by at least one computing device, causes the at least one computing device to perform operations, the operations comprising:
- generating, based on first LIDAR data associated with a convex hull of an object at a first time and second LIDAR data associated with the convex hull at a second time after the first time, a vector comprising values of features associated with the convex hull;
- comparing a probability associated with the object to a threshold level to determine whether the object is static or dynamic, wherein the probability is based on the vector;
- and
- setting a length of a buffer that stores the second LIDAR data based on whether the probability indicates the object is static or dynamic.
Dependencies are inferred from the claim text.