System and method for tracking objects
First Claim
1. A computer-implemented method for tracking objects, the method comprising:
- obtaining a set of input from one or more sensors, the sensors being configured to perceive an environment;
determining, using one or more processors, a three-dimensional bitmap associated with an environmental state based on the set of input, the three-dimensional bitmap comprising a plurality of pixels; and
identifying, using the one or more processors, a position for an object using the three-dimensional bitmap, wherein an intensity of each pixel at a particular coordinate of the bitmap represents a likelihood that the object is at a location within the environment corresponding to the particular coordinate of the three-dimensional bitmap; and
controlling a vehicle using an automated driving system based on the position in order to avoid the object.
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Accused Products
Abstract
Embodiments of a system and method for tracking objects are described herein. Aspects of this disclosure efficiently update object “belief” data by creating a bitmap representation of object locations and velocities. The bitmap provides a three-dimensional representation of the object as viewed by one or more sensors. The bitmap representations are blended with sensor data over time to determine a current object belief state which can accurately account for asynchronous sensor data. Peaks in the belief data, which may be represented by pixels with an intensity value above a threshold value, are identified as likely objects. Additional sensor data is used to detect longitudinal velocities located at one or more of the peaks.
19 Citations
20 Claims
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1. A computer-implemented method for tracking objects, the method comprising:
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obtaining a set of input from one or more sensors, the sensors being configured to perceive an environment; determining, using one or more processors, a three-dimensional bitmap associated with an environmental state based on the set of input, the three-dimensional bitmap comprising a plurality of pixels; and identifying, using the one or more processors, a position for an object using the three-dimensional bitmap, wherein an intensity of each pixel at a particular coordinate of the bitmap represents a likelihood that the object is at a location within the environment corresponding to the particular coordinate of the three-dimensional bitmap; and controlling a vehicle using an automated driving system based on the position in order to avoid the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A tangible, non-transitory, computer-readable storage medium comprising instructions that, when executed by one or more processors, perform a method for tracking objects, the method comprising:
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obtaining a set of input from one or more sensors, the sensors being configured to perceive an environment; determining a three-dimensional bitmap associated with an environmental state based on the set of input, the three-dimensional bitmap comprising a plurality of pixels; identifying a position for an object using the three-dimensional bitmap, wherein an intensity of each pixel at a particular coordinate of the bitmap represents a likelihood that the object is at a location within the environment corresponding to the particular coordinate of the three-dimensional bitmap; and controlling a vehicle using an automated driving system based on the position in order to avoid the object. - View Dependent Claims (10, 11, 12)
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13. A processing system for tracking objects comprising:
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one or more sensors; a memory for storing a three-dimensional bitmap; and one or more processors coupled to the memory, the one or more processors being configured to; obtain a set of input from the one or more sensors, the sensors being configured to perceive an environment; determine a three-dimensional bitmap associated with an environmental state based on the set of input, the three-dimensional bitmap comprising a plurality of pixels; and identify a position for an object using the three-dimensional bitmap, wherein an intensity of each pixel at a particular coordinate of the bitmap represents a likelihood that the object is at a location within the environment corresponding to the particular coordinate of the three-dimensional bitmap; and controlling a vehicle using an automated driving system based on the position in order to avoid the object. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification