Patent ID: 11861865
Assignee: ARGO AI, LLC
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 6:
7. The method of claim 2, further comprising:
querying, by the one or more computing devices, the range image for predicted class labels corresponding to the lidar beams projected into the range image;
determining, by the one or more computing devices, percentages of lidar beams belonging to the predicted class label;
determining, by the one or more computing devices, whether the predicted ranges for each of the plurality of lidar beams in the range image corresponding to the predicted class label are significantly longer than, significantly shorter than, and approximately equal to the observed ranges;
determining, by the one or more computing devices, a percentage of predicted ranges for each predicted class label significantly longer than, significantly shorter than, and approximately equal to the observed ranges; and
comparing, by the one more computing devices, the plurality of values to the vector of features using the binary classifier, wherein the plurality of values comprises the percentages of predicted ranges for each predicted class label significantly longer than, significantly shorter than, and approximately equal to the observed ranges.