Lidar-based classification of object movement

A system for detecting movement of objects depicted in a lidar point cloud on a device comprising one or more processors, the system comprising:

• an object identifier configured to:
• receive, from a lidar detector, at least a plurality and a second plurality of reflected lidar points, each plurality of lidar points forming a lidar point cloud;
• map of the lidar points in each lidar point cloud to a voxel in a three-dimensional voxel space;
• identify at least one object represented by a voxel cluster of voxels sharing an adjacency within the three-dimensional voxel space, wherein adjacency of two voxels is determined by a specified number of voxels between said two voxels;
• for each of the plurality of lidar points in each lidar point cloud:
• associate the lidar point with the identified object, and
• classify the movement of the lidar point according to the identified object;
• and
• for each identified object, classify the movement of the object according to the movement of the respective lidar points associated with the object.

A computer-readable storage medium comprising instructions that, when executed on one or more processors of a device, cause the device to detect movement of objects depicted in a lidar point cloud by:

• executing on the one or more processors, instructions configured to:
• receive, from a lidar detector, at least a first plurality and a second plurality of reflected lidar points, each plurality of lidar points forming a lidar point cloud;
• map the lidar points in each lidar point cloud to a voxel in a three-dimensional voxel space;
• identify at least one object represented by a voxel cluster of voxels sharing an adjacency within the three-dimensional voxel space, wherein adjacency of two voxels is determined by a specified number of voxels between said two voxels;
• for each of the plurality of lidar points in each lidar point cloud:
• associate the lidar point with the identified object, and
• classify the movement of the lidar point according to the identified object;
• and
• for each identified object, classify the movement of the object according to the movement of the respective lidar points associated with the object.