Detecting foliage using range data
First Claim
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1. A method for detecting foliage, the method comprising:
- detecting a data object within range data captured by one or more sensors;
tracking the data object over time to determine tracking parameters for the data object, wherein the tracking parameters comprise;
a position variability indicating a standard deviation of a feature of the data object over time;
a detection consistency indicating how consistently the data object is detected over time; and
a tracking age indicating a time duration the data object has been tracked; and
classifying the data object as corresponding to foliage or non-foliage based on the tracking parameters.
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Abstract
A system for detecting and identifying foliage includes a tracking component, a tracking parameters component, and a classification component. The tracking component is configured to detect and track one or more features within range data from one or more sensors. The tracking parameters component is configured to determine tracking parameters for each of the one or more features. The tracking parameters include a tracking age and one or more of a detection consistency and a position variability. The classification component is configured to classify a feature of the one or more features as corresponding to foliage based on the tracking parameters.
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Citations
20 Claims
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1. A method for detecting foliage, the method comprising:
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detecting a data object within range data captured by one or more sensors; tracking the data object over time to determine tracking parameters for the data object, wherein the tracking parameters comprise; a position variability indicating a standard deviation of a feature of the data object over time; a detection consistency indicating how consistently the data object is detected over time; and a tracking age indicating a time duration the data object has been tracked; and classifying the data object as corresponding to foliage or non-foliage based on the tracking parameters. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system comprising:
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one or more sensors configured for detecting a data object; and a processor that is programmable to execute instructions stored in non-transitory computer readable storage media, the instructions comprising; detecting a data object within range data captured by the one or more sensors; tracking the data object over time to determine tracking parameters for the data object, wherein the tracking parameters comprise; a position variability indicating a standard deviation of a feature of the data object over time; a detection consistency indicating how consistently the data object is detected over time; and a tracking age indicating a time duration the data object has been tracked; and classifying the data object as corresponding to foliage or non-foliage based on the tracking parameters. - View Dependent Claims (11, 12, 13, 14)
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15. Non-transitory computer readable storage media storing instructions that, when executed by one or more processors, cause the one or more processors to:
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detect a data object within range data captured by one or more sensors; track the data object over time to determine tracking parameters for the data object, wherein the tracking parameters comprise; a position variability indicating a standard deviation of a feature of the data object over time; a detection consistency indicating how consistently the data object is detected over time; and a tracking age indicating a time duration the data object has been tracked; and classify the data object as corresponding to foliage or non-foliage based on the tracking parameters. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification