| CPC G01S 17/42 (2013.01) [B60W 30/0956 (2013.01); G01S 7/4808 (2013.01); G01S 7/4817 (2013.01); G01S 17/894 (2020.01); G01S 17/931 (2020.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/4042 (2020.02)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions that, when executed by the one or more processors, cause the system to perform operations comprising:
receiving, from a temporal sensor of a vehicle and during a first time period, first sensor data including a representation of an object in an environment in which the vehicle is operating, wherein a movement of at least one of the object or the vehicle contributes to a distortion in the representation of the object relative to an actual shape of the object;
determining, based at least in part on the first sensor data, that the object corresponds with a tracked object, the tracked object associated with an estimated size determined based at least in part on second sensor data captured during a second time period, prior to the first time period;
determining a difference between the estimated size and a detected size associated with the representation of the object in the first sensor data;
determining at least one of a velocity or a bounding box associated with the object based at least in part on the difference between the detected size and the estimated size; and
controlling operation of the vehicle based at least in part on the at least one of the velocity or the bounding box.
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