Patent ID: 11948367
Assignee: BOARD OF TRUSTEES OF MICHIGAN STATE UNIVERSITY
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 15:
16. A system comprising:
a camera sensor generating camera data;
a lidar generating lidar data;
a bounding box determination module generating bounding boxes from the camera data and the lidar data, at least some of said bounding boxes being three-dimensional;
a multiple object tracking module programmed to
store previous detected object data and previous undetected object data;

receive new object data associated with a timestamp, said new object data being two-dimensional object data and three-dimensional object data;
compare the new object data, the detected object data and the undetected object data;
form hypotheses from the step of comparing, each hypotheses having hypothesis probability;
generate first probability data for each detected object based on a confidence score from a neural network;
generate second probability data for each undetected object;
reduce the hypotheses based on the hypotheses probability;
generate a first set of data comprising detected objects, undetected objects and hypotheses;
reduce the first set of data comprising the detected objects and undetected objects based on the first probability, the second probability and the hypothesis probabilities to form a second set; and
utilize the second set to control operation of a vehicle system.