System and method for object comprehension

A method for tracking objects of interest in an environment, comprising:

• acquiring, from a sensor, a plurality of observations of the environment, each observation associated with a pose of the sensor for use in transforming between location coordinates in the plurality of observations and location coordinates in the environment;
• identifying a candidate object at a location within an observation of the plurality of observations based on a first trackable property associated with an object of interest;
• transforming, based on the associated sensor pose, the location of the candidate object within the observation to a candidate object location within the environment;
• identifying an object at a location within a different observation of the plurality of observations based on a second trackable property associated with the object of interest, and
• determining a correspondence between the location of the object within the different observation and the candidate object location within the environment and, based on the correspondence:
• merging the object with the candidate object, or
• disregarding the object as the candidate object and registering the object as a new candidate object.

A method for tracking objects of interest in an environment, comprising:

• maintaining a collection of a plurality of tracked objects identified in the environment, the plurality of tracked objects each comprising:
• one or more trackable properties associated with an object of interest, and
• a tracked object location within the environment;
• acquiring, from a sensor, a plurality of observations of the environment, each observation associated with a pose of the sensor for use in transforming between location coordinates in the plurality of observations and location coordinates in the environment;
• identifying an object at a location within an observation of the plurality of observations, the object comprising a trackable property associated with the object of interest;
• transforming, based on the associated sensor pose, the location of the object within the observation to a predicted location within the environment;
• determining a correspondence between the object and each of the plurality of tracked objects based on a distance between the predicted location within the environment and the tracked object location within the environment;
• identifying the correspondence to a tracked object having the highest correspondence, and, based on the correspondence:
• merging the object with the tracked object, or
• registering the object as a new candidate object for maintaining in a collection of candidate objects.

A system for tracking objects of interest in an environment, the system comprising:

• a sensor;
• one or more processors, and
• a memory storing instructions thereon that, when executed by the one or more processors, configure the system to:
• acquire, from the sensor, a plurality of observations of the environment, each observation associated with a pose of the sensor for use in transforming between location coordinates in the plurality of observations and location coordinates in the environment;
• identify an object at a location within an observation of the plurality of observations;
• transform, based on the pose of the sensor associated with the observation, the location of the object within the observation to an object location within the environment, and
• identify the object in a different observation of the plurality of observations based on a correspondence between a location of the object within the different observation and the object location in the environment.

A system for tracking objects of interest in an environment, the system comprising:

• a sensor;
• one or more processors, and
• a memory storing instructions thereon that, when executed by the one or more processors, configure the system to:
• acquire, from the sensor, a plurality of observations of the environment, each observation associated with a pose of the sensor for use in transforming between location coordinates in the plurality of observations and location coordinates in the environment;
• identify a candidate object at a location within an observation of the plurality of observations based on a first trackable property associated with an object of interest;
• transform, based on the associated sensor pose, the location of the candidate object within the observation to a candidate object location within the environment;
• identify an object at a location within a different observation of the plurality of observations based on a second trackable property associated with the object of interest, and
• determine a correspondence between the location of the object within the different observation and the candidate object location within the environment and, based on the correspondence:
• merge the object with the candidate object, or
• disregard the object as the candidate object and register the object as a new candidate object.

A system for tracking objects of interest in an environment, the system comprising:

• a sensor;
• one or more processors, and
• a memory storing instructions thereon that, when executed by the one or more processors, configure the system to:
• maintain a collection of a plurality of tracked objects identified in the environment, the plurality of tracked objects each comprising:
• one or more trackable properties associated with an object of interest, and
• a tracked object location within the environment;
• acquire, from the sensor, a plurality of observations of the environment, each observation associated with a pose of the sensor for use in transforming between location coordinates in the plurality of observations and location coordinates in the environment;
• identify an object at a location within an observation of the plurality of observations, the object comprising a trackable property associated with the object of interest;
• transform, based on the sensor pose associated with the observation, the location of the object within the observation to a predicted location within the environment;
• determine a correspondence between the object and each of the plurality of tracked objects based on a distance between the predicted location within the environment and the tracked object location within the environment;
• identify the correspondence to a tracked object having the highest correspondence, and, based on the correspondence:
• merge the object with the tracked object, or
• register the object as a new candidate object for maintaining in a collection of candidate objects.

A non-transitory computer-readable storage medium having instructions stored thereon that when executed by one or processors, cause the one or more processors to:

• acquire, from a sensor, a plurality of observations of the environment, each observation associated with a pose of the sensor for use in transforming between location coordinates in the plurality of observations and location coordinates in the environment;
• identify an object at a location within an observation of the plurality of observations;
• transform, based on the pose of the sensor associated with the observation, the location of the object within the observation to an object location within the environment, and
• identify the object in a different observation of the plurality of observations based on a correspondence between a location of the object within the different observation and the object location in the environment.

A non-transitory computer-readable storage medium having instructions stored thereon that when executed by one or processors, cause the one or more processors to:

• acquire, from a sensor, a plurality of observations of the environment, each observation associated with a pose of the sensor for use in transforming between location coordinates in the plurality of observations and location coordinates in the environment;
• identify a candidate object at a location within an observation of the plurality of observations based on a first trackable property associated with an object of interest;
• transform, based on the associated sensor pose, the location of the candidate object within the observation to a candidate object location within the environment;
• identify an object at a location within a different observation of the plurality of observations based on a second trackable property associated with the object of interest, and
• determine a correspondence between the location of the object within the different observation and the candidate object location within the environment and, based on the correspondence:
• merge the object with the candidate object, or
• disregard the object as the candidate object and register the object as a new candidate object.

A non-transitory computer-readable storage medium having instructions stored thereon that when executed by one or processors, cause the one or more processors to:

• maintain a collection of a plurality of tracked objects identified in the environment, the plurality of tracked objects each comprising:
• one or more trackable properties associated with an object of interest, and
• a tracked object location within the environment;
• acquire, from the sensor, a plurality of observations of the environment, each observation associated with a pose of the sensor for use in transforming between location coordinates in the plurality of observations and location coordinates in the environment;
• identify an object at a location within an observation of the plurality of observations, the object comprising a trackable property associated with the object of interest;
• transform, based on the sensor pose associated with the observation, the location of the object within the observation to a predicted location within the environment;
• determine a correspondence between the object and each of the plurality of tracked objects based on a distance between the predicted location within the environment and the tracked object location within the environment;
• identify the correspondence to a tracked object having the highest correspondence, and, based on the correspondence:
• merge the object with the tracked object, or
• register the object as a new candidate object for maintaining in a collection of candidate objects.