US 12,333,841 B2
Determining object mobility parameters using an object sequence
Varun Bankiti, Venice, CA (US); Oscar Beijbom, Santa Monica, CA (US); and Tianwei Yin, Austin, TX (US)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Apr. 1, 2024, as Appl. No. 18/623,719.
Application 18/623,719 is a continuation of application No. 17/407,992, filed on Aug. 20, 2021, granted, now 11,948,381.
Prior Publication US 2025/0029412 A1, Jan. 23, 2025
This patent is subject to a terminal disclaimer.
Int. Cl. G06V 30/262 (2022.01); B60W 60/00 (2020.01); G01S 17/42 (2006.01); G01S 17/58 (2006.01); G01S 17/89 (2020.01); G06F 18/21 (2023.01); G06T 7/10 (2017.01); G06T 7/20 (2017.01); G06T 7/70 (2017.01); G06V 20/58 (2022.01)
CPC G06V 30/274 (2022.01) [G01S 17/42 (2013.01); G01S 17/58 (2013.01); G01S 17/89 (2013.01); G06F 18/21 (2023.01); G06T 7/10 (2017.01); G06T 7/20 (2013.01); G06T 7/70 (2017.01); G06V 20/58 (2022.01); B60W 60/001 (2020.02); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/4026 (2020.02); B60W 2554/4029 (2020.02); B60W 2554/404 (2020.02); G06T 2207/20084 (2013.01); G06T 2207/30261 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
receiving a first semantic image, the first semantic image comprising a first object;
associating at least one first lidar point with the first object;
determining a predicted location for the first object at a previous point in time based at least in part on the at least one first lidar point;
identifying a second object of a second semantic image that corresponds to the first object based at least in part on the predicted location of the first object at the previous point in time;
identifying at least one second lidar point associated with the second object, wherein the at least one second lidar point corresponds to the previous point in time;
generating a virtual point for the second object using the at least one second lidar point; and
determining at least one mobility parameter of the first object based at least in part on the generated virtual point.