David Wehr

US Patent:

20230054759, Feb 23, 2023

Filed:

Aug 23, 2021

Appl. No.:

17/409052

Inventors:

- Santa Clara CA, US
Jens Christian Bo Joergensen - Flushing NY, US
David Wehr - Redmond WA, US
Joachim Pehserl - Lynnwood WA, US

International Classification:

G01S 17/66
G01S 17/931
G01S 17/58
B25J 9/16

Abstract:

In various examples, an obstacle detector is capable of tracking a velocity state of detected objects or obstacles using LiDAR data. For example, using LiDAR data alone, an iterative closest point (ICP) algorithm may be used to determine a current state of detected objects for a current frame and a Kalman filter may be used to maintain a tracked state of the one or more objects detected over time. The obstacle detector may be configured to estimate velocity for one or more detected objects, compare the estimated velocity to one or more previous tracked states for previously detected objects, determine that the detected objects corresponds to a certain previously detected object, and update the tracked state for the previously detected object with the estimated velocity.