Title:
車載クラスタ追跡システム
Document Type and Number:
Japanese Patent JP7462738
Kind Code:
B2
Abstract:
The technology relates to tracking objects in an environment around an autonomous vehicle. A computing system of the autonomous vehicle determines accurate motion characteristics of objects detected in its environment despite various sensor measurement limitations. By correcting motion distortion for fast moving objects and accounting for discrepancies in sensor data gathering, motion characteristics may be determined for the detected objects with enhanced accuracy. Multiple sets of correspondences are determined for clusters from multiple sensor spins, enabling better alignment using a surface matching algorithm even when clusters have fewer data points. Efficiency is also enhanced by selecting hypotheses based on confidence levels. These techniques provide for identifying the types of objects for which a yaw rate can be accurately determined. Object classification can also be improved by accumulating associated clusters corresponding to a detected object. In addition, under- or over-segmentation can be mitigated with such techniques.
Inventors:
Chen, Minchen
Lauterbach, Christian
Mahon, Ian James
Hemachandra, Sachithra
Lauterbach, Christian
Mahon, Ian James
Hemachandra, Sachithra
Application Number:
JP2022514999A
Publication Date:
April 05, 2024
Filing Date:
October 15, 2020
Export Citation:
Assignee:
Waymo LLC
International Classes:
G08G1/16; G06T7/00
Domestic Patent References:
| JP2017537484A | ||||
| JP2011192141A |
Foreign References:
| US8989944 |
Attorney, Agent or Firm:
Yoshiyuki Inaba
Mutsumi Sato
Mutsumi Sato