Patent ID: 11948381
Assignee: MOTIONAL AD LLC
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A method, comprising:
receiving a first semantic image associated with a first time, the first semantic image comprising a first object;
receiving at least one first lidar point associated with the first object;
determining a location and estimated velocity of the first object;
determining a predicted location for the first object at a second time based at least in part on the determined location and the estimated velocity of the first object, wherein the second time is prior to the first time;
associating a second object of a second semantic image with the first object based at least in part on the predicted location of the first object at the second time;
the associating at least one second lidar point with the second object, wherein the at least one second lidar point is associated with the second time;
generating a virtual point for the second object;
associating the at least one second lidar point with the virtual point;
generating an object sequence for the first object based at least in part on the at least one first lidar point, the at least one second lidar point, and the virtual point; and
determining orientation and velocity for the first object based at least in part on the object sequence.