Patent ID: 11971481
Assignee: GM CRUISE HOLDINGS LLC
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 14:
15. A non-transitory computer-readable storage medium comprising instructions stored therein, which when executed by one or more processors, cause the processors to perform operations for detecting an object using Light Detection and Ranging, the operations comprising:
receiving three-dimensional (3D) Light Detection and Ranging (LiDAR) data of the object at a first time;
identifying, using a mixture model on the 3D LiDAR data, that a first set of points of the 3D LiDAR data represent a first portion of the object;
generating a first 3D point cloud based on the 3D LiDAR data at the first time, wherein the first 3D point cloud is associated with the first portion of the object;
receiving additional 3D LiDAR data of the object at a second time;
identifying, using the mixture model on the additional 3D LiDAR data, that a second set of points of the additional 3D LiDAR data represent a second portion of the object;
generating a second 3D point cloud based on the additional 3D LiDAR data at the second time, wherein the second 3D point cloud is associated with the second portion of the object;
aggregating the first 3D point cloud and the second 3D point cloud to form an aggregated 3D point cloud associated with the first portion of the object and the second portion of the object;
placing a bounding box around the aggregated 3D point cloud; and
tracking the object based on the bounding box.