Patent ID: 11960009
Assignee: ZOOX, INC.
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving lidar data associated with an object;
identifying a bounding box associated with an object identified in the lidar data;
expanding, as an expanded bounding box, a size of the bounding box;
capturing additional lidar data within the expanded bounding box;
projecting, as projected lidar data, the lidar data and the additional lidar data onto a two-dimensional plane;
determining a first convex hull based on a subset of the projected lidar data, wherein the first convex hull comprises a plurality of boundary edges;
determining a longest boundary edge, wherein the longest boundary edge has a first endpoint and a second endpoint;
determining an interior point in an interior of the first convex hull;
replacing the longest boundary edge with a first segment based on the first endpoint and the interior point, and a second segment based on the interior point and the second endpoint; and
determining an updated convex hull based on the first segment and the second segment.