OBJECT TRACKING USING LINEAR FEATURES
First Claim
Patent Images
1. A method of tracking objects within an environment, the method comprising.acquiring sensor data related to the environment;
- identifying present linear features within the sensor data;
tracking previous linear features from a previous set of tracked linear features to the present linear features; and
creating a set of tracked linear features, the set of tracked linear features being used to track objects within the environment,the set of tracked linear features comprising;
present linear features tracked from previous linear features;
present linear features not tracked from previous linear features; and
previous linear features not tracked to present linear features.
2 Assignments
0 Petitions
Accused Products
Abstract
A method of tracking objects within an environment comprises acquiring sensor data related to the environment, identifying linear features within the sensor data, and determining a set of tracked linear features using the linear features identified within the sensor data and a previous set of tracked linear features, the set of tracked linear features being used to track objects within the environment.
-
Citations
17 Claims
-
1. A method of tracking objects within an environment, the method comprising.
acquiring sensor data related to the environment; -
identifying present linear features within the sensor data; tracking previous linear features from a previous set of tracked linear features to the present linear features; and creating a set of tracked linear features, the set of tracked linear features being used to track objects within the environment, the set of tracked linear features comprising; present linear features tracked from previous linear features; present linear features not tracked from previous linear features; and previous linear features not tracked to present linear features. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
-
8. A method of tracking objects within an environment, the method comprising:
-
identifying present linear features within the environment using sensor data obtained from the environment; identifying mappings of previous tracked linear features to the present linear features; determining a feature probability for each present linear feature; and creating a set of present tracked linear features including the present linear features, the present tracked linear features further including unmapped previous linear features not mapped to present linear features, the feature probability of unmapped previous linear features being reduced, the set of tracked linear features and mappings being used to track objects within the environment. - View Dependent Claims (9, 10, 11, 12)
-
-
13. A method of tracking objects within an environment, the method comprising:
-
obtaining sensor data from the environment, the sensor data including range data; identifying linear features within the environment using the sensor data; and tracking objects within the environment by tracking the linear features, wherein the linear features are identified within the sensor data using a locality-based neighborhood calculation including; determining a normal vector for each sensor data point using sampled sensor data around each sensor data point; and clustering proximate sensor data points having similar normal vectors. - View Dependent Claims (14, 15, 16, 17)
-
Specification