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1. (WO2018196336) MULTI-OBJECT TRACKING BASED ON LIDAR POINT CLOUD

Pub. No.:    WO/2018/196336    International Application No.:    PCT/CN2017/110534
Publication Date: Fri Nov 02 00:59:59 CET 2018 International Filing Date: Sat Nov 11 00:59:59 CET 2017
IPC: G01S 17/89
G06K 9/00
Applicants: SZ DJI TECHNOLOGY CO., LTD.
Inventors: LI, Chen
MA, Lu
Title: MULTI-OBJECT TRACKING BASED ON LIDAR POINT CLOUD
Abstract:
Techniques, systems, and devices are disclosed for conducting object tracking a light detection and ranging (LIDAR) based object tracking system. In one exemplary aspect, the system includes a plurality of light emitter and sensor pairs operable to obtain data indicative of actual locations of surrounding objects, wherein the data is grouped into a plurality of groups by a segmentation module; and an object tracker configured to (1) build a plurality of models of target objects based on the plurality of groups, (2) compute a motion estimation for each of the target objects, (3) feed a subset of data back to the segmentation module for further grouping if the subset of data fails to map to a corresponding target object in the model, and (4) modify the model for the target object by adjusting the motion estimation to reduce or remove a physical distortion of the model.