Patent ID: 11961304
Assignee: LYFT, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 8:
9. The computer-implemented method of claim 1, wherein deriving, from the first sequence of images captured by the monocular camera, the first track for the given agent comprises:
detecting the given agent in each of a subset of images in the first sequence, wherein each image in the subset of images was captured at a respective capture time;
for each image in the subset of images, (i) identifying a tracking point for the given agent within the image, (ii) determining an association between the identified tracking point and a given ground point within the vehicle's surrounding environment, (iii) determining a three-dimensional (3D) position of the given ground point, and (iv) using the determined 3D position of the given ground point to determine a 3D position of the given agent at the respective capture time of the image; and
deriving the first track based on the determined 3D positions of the given agent at the respective capture times of the images in the subset of images.