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

Claim 18:
19. The non-transitory computer-readable medium of claim 12, wherein determining the position of the given agent at the respective capture time of a given respective image in the subset of images based on the respective tracking point for the given agent within the respective image and information regarding the ground plane within the vehicle's surrounding environment comprises:
determining an association between the respective tracking point for the given agent within the given respective image and a given ground point within the vehicle's surrounding environment;
determining a three-dimensional (3D) position of the given ground point using a ground map that provides information regarding a 3D geospatial geometry of the ground plane within the vehicle's surrounding environment; and
using the determined 3D position of the given ground point to determine a 3D position of the given agent at the respective capture time of the given respective image.