Patent ID: 11961241
Assignee: LYFT, INC.
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 17:
18. The non-transitory computer-readable medium of claim 12, wherein identifying, as the respective tracking point for the given agent within a given respective image in the subset of images, the at least one given pixel within the respective pixel mask that is representative of the estimated intersection point between the given agent and the ground plane within the vehicle's surrounding environment comprises:
identifying a ground feature within the given respective image;
identifying one or more pixels within the respective pixel mask that are adjacent to the ground feature; and
identifying, from the one or more pixels that are identified as being adjacent to the ground feature, at least one pixel that is closest to a bottom of the given respective image, wherein the identified at least one pixel is then used as a basis for determining the position of the given agent at the respective capture time of the given respective image.