CLASSIFYING OBJECTS DETECTED BY 3D SENSORS FOR AUTONOMOUS VEHICLE OPERATION

摘要

A method of autonomous driving includes generating, with a 3D sensor, 3D points representing objects in the environment surrounding a vehicle. The method further includes, with a computing device, identifying, from the 3D points, a temporal series of clusters of 3D points representing the same object in the environment surrounding the vehicle as a track, identifying cluster-based classifiers for the object based on identified local features for the clusters in the track, identifying track-based classifiers for the object based on identified global features for the track, combining the cluster-based classifiers and the track-based classifiers to classify the object, with the cluster-based classifiers being weighted based on an amount of information on the clusters from which they are identified, and with the weight increasing with increasing amounts of information, and driving the vehicle along a route based on the object's classification.

主权项

1. A method of autonomous driving, comprising:
generating, with a 3D sensor, 3D points representing objects in an environment surrounding a vehicle; identifying, with a computing device, from the 3D points, a temporal series of clusters of 3D points representing the same object in the environment surrounding the vehicle as a track; identifying, with the computing device, cluster-based classifiers for the object based on identified local features for the clusters in the track; identifying, with the computing device, track-based classifiers for the object based on identified global features for the track; combining, by using the computing device, the cluster-based classifiers and the track-based classifiers to classify the object, with the cluster-based classifiers being weighted based on an amount of information on the clusters from which they are identified, and with the weight increasing with increasing amounts of information; and driving the vehicle, using the computing device, along a route based on the object's classification.