Polyline estimation

Abstract

Systems and techniques are described herein for refining polylines. For instance, a method for refining polylines is provided. The method may include generating a polyline trajectory based on a point-cloud representation of a scene; generating a plurality of polyline segments based on the polyline trajectory; processing the plurality of polyline segments to generate a plurality of polyline-segment features; determining a relationship associated with polylines of the polyline trajectory based on the plurality of polyline-segment features; updating a polyline-segment feature of the plurality of polyline-segment features based on the relationship; and processing the plurality of polyline-segment features to generate a refined polyline trajectory.

Dependencies are inferred from the claim text.