Patent ID: 9523772
Filing Date: 2016-12-20
CPC Classification: G01S,G06K,G06T

Claim Text:
1. A computer-implemented method of generating a rendering of an environment including at least one object, the method performed on a device comprising a processor, the method comprising: generating for the environment, a lidar point cloud comprising at least one lidar point captured over a period of time; mapping respective lidar points in the lidar point cloud to identify an object in the environment; selecting a movement classification of the object according to the at least one lidar point; based on the lidar points in the lidar point cloud, identifying the object in a first representation of the environment captured at a first time within the period of time; based on an identified position of the object at the first time and the movement classification, estimating a position of the object at a second time within the period of time; based on the estimated position, identifying the object in a second representation of the environment captured at the second time; and generating the rendering of the environment omitting at least a portion of the object, based at least on identification of the object in the second representation.