Association of concurrent tracks using graph crossings

A network for sensing objects, comprising:

• a memory that stores at least instructions;
• and
• one or more processors that are configured to execute instructions,
• wherein the instructions perform actions, including:
• obtaining a plurality of trajectories based on collection of a plurality of signals that separately represent a detected reflection of one or more portions of a plurality of signal beams scanned in a plurality of paths across an object, wherein each trajectory is associated with one or more events that correspond to the plurality of reflected signals;
• collecting one or more crossing points based on one or more portions of the plurality of trajectories that intersect each other, wherein one or more unambiguous crossing points associated with one or more candidate trajectories that are in common with each other are obtained based on an absence of an occurrence of one or more other crossing points;
• obtaining one or more graphs based on the portion of trajectories and the one or more crossing points, wherein each edge in the one or more graphs corresponds to a crossing point, and wherein each node in the one or more graphs corresponds to a trajectory;
• and
• collecting one or more common trajectories based on one or more portions of the one or more graphs that share a common topology associated with a same path scanned across the object, wherein one or more features of the object are collected based on the one or more common trajectories.

A non-transitory computer storage medium with instructions for sensing objects, wherein execution of the instructions by one or more processors causes actions, comprising:

• obtaining a plurality of trajectories based on collection of a plurality of signals that separately represent a detected reflection of one or more portions of a plurality of signal beams scanned in a plurality of paths across an object, wherein each trajectory is associated with one or more events that correspond to the plurality of reflected signals;
• collecting one or more crossing points based on one or more portions of the plurality of trajectories that intersect each other, wherein one or more unambiguous crossing points associated with one or more candidate trajectories that are in common with each other are obtained based on an absence of an occurrence of one or more other crossing points;
• obtaining one or more graphs based on the portion of trajectories and the one or more crossing points, wherein each edge in the one or more graphs corresponds to a crossing point, and wherein each node in the one or more graphs corresponds to a trajectory;
• and
• collecting one or more common trajectories based on one or more portions of the one or more graphs that share a common topology associated with a same path scanned across the object, wherein one or more features of the object are collected based on the one or more common trajectories.

A system for sensing objects over a network, comprising:

• a network computer, comprising:
• a memory that stores at least instructions;
• and
• one or more processors that are configured to execute instructions, wherein the instructions perform actions, including:
• obtaining a plurality of trajectories based on collection of a plurality of signals that separately represent a detected reflection of one or more portions of a plurality of signal beams scanned in a plurality of paths across an object, wherein each trajectory is associated with one or more events that correspond to the plurality of reflected signals;
• collecting one or more crossing points based on one or more portions of the plurality of trajectories that intersect each other, wherein one or more unambiguous crossing points associated with one or more candidate trajectories that are in common with each other are obtained based on an absence of an occurrence of one or more other crossing points;
• obtaining one or more graphs based on the portion of trajectories and the one or more crossing points, wherein each edge in the one or more graphs corresponds to a crossing point, and wherein each node in the one or more graphs corresponds to a trajectory;
• and
• collecting one or more common trajectories based on one or more portions of the one or more graphs that share a common topology associated with a same path scanned across the object, wherein one or more features of the object are collected based on the one or more common trajectories;
• and
• one or more client computers, comprising:
• a memory that stores at least instructions;
• and
• one or more processors configured to execute instructions, wherein the instructions perform actions, including:
• employing one or more signal generators to emit the plurality of signal beams that are scanned in the plurality of paths across the object;
• and
• employing a plurality of sensors to obtain the plurality of signals based on the separate detection of the one or more portions of the plurality of signal beams that are reflected by the object.