US 12,217,492 B2
Track segment cleaning of tracked objects
Lubing Zhou, Singapore (SG); Jiong Yang, Singapore (SG); and Yilaun Guo, Singapore (SG)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Mar. 8, 2023, as Appl. No. 18/180,732.
Application 18/180,732 is a continuation of application No. 17/736,735, filed on May 4, 2022, granted, now 11,625,909.
Prior Publication US 2023/0360379 A1, Nov. 9, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G06V 10/80 (2022.01); G06T 7/246 (2017.01); G06V 10/26 (2022.01); G06V 10/774 (2022.01); G06V 10/98 (2022.01); G06V 20/58 (2022.01)
CPC G06V 10/806 (2022.01) [G06T 7/248 (2017.01); G06V 10/26 (2022.01); G06V 10/774 (2022.01); G06V 10/993 (2022.01); G06V 20/58 (2022.01); G06T 2207/20081 (2013.01); G06T 2207/30241 (2013.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
detecting, using at least one processor, a first track segment and a second track segment;
determining, using the at least one processor, that the first track segment and the second track segment are representative of an identical object exterior to a vehicle;
determining, using the at least one processor, a stitching score between the first track segment and the second track segment, the stitching score indicative of a likelihood that combining the first track segment and the second track segment is representative of a single trajectory of the identical object exterior to the vehicle; and
in response to the first track segment and the second track segment being determined to be representative of the identical object by the stitching score satisfying a stitching score threshold, combining, using the at least one processor, the first track segment and the second track segment to form a single track segment comprising the single trajectory.