Patent ID: 11885886
Assignee: FORD GLOBAL TECHNOLOGIES, LLC
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 19:
20. The system according to claim 19, wherein the probability is computed in accordance with the following mathematical equation

p(lp∈mp)=∫mpf(xm,ym)dmp=∫xmp−xmp+∫ymp−ymp+f(xm,ym)dydx 

where lp is a LiDAR point, mp is a mask pixel, [xmp−,xmp+] represent the x limits of a pixel in mask coordinates, [ymp−,ymp+] represents they limits of the pixel in mask coordinates, dmp represents a mask pixel associated with a given object detection d, dy represents y-axis coordinate for a mask pixel associated with the given object detection d, and dx represents an x-axis coordinate for the mask pixel associated with the given object detection d.