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

Claim 5:
6. A method comprising:
storing previous detected object data and previous undetected object data, said previous detected object data and said previous undetected object data being three-dimensional data;
receiving two-dimensional sensor data and three-dimensional sensor data at the bounding box determination module;
generating three-dimensional new object data in the bounding box determination module from the two-dimensional sensor data and the three-dimensional sensor data;
receiving three-dimensional new object data associated with a current timestamp from a bounding box determination module;
comparing the three-dimensional new object data, the detected object data and the undetected object data;
forming hypotheses from the step of comparing, each hypotheses having hypothesis probability;
generating first probability data for each detected object of the new object data based on a confidence score from a neural network;
generating second probability data for each undetected object;
reducing the hypotheses based on the hypotheses probability;
generating a first set of data comprising detected objects, undetected objects and hypotheses;
reducing 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
utilizing the second set to control operation of a vehicle system.