Patent ID: 8818702

Claim:
A non-transitory computer-readable storage device comprising instructions that, when executed by a processor, cause the processor to perform operations, for tracking from a vehicle, an object by generating kinematic models corresponding to the object, comprising: receiving scan data associated with the object; generating, using the scan data, a new frame F, associated with a new time t+dt and including new points X; identifying a new group G of new points X i , of the new points X of the new frame F, where i=1, . . . , N, with N being a positive integer corresponding to a number of the new points; associating the new group G with the object based on previous information associated with the object; and determining, based on the new group G, a new kinematic model M corresponding to the object; wherein: determining, based on the new group G, the new kinematic model M corresponding to the object includes generating a predicted group G p ; determining the new kinematic model M includes iteratively matching the predicted group G p to the new group G; iteratively matching the predicted group G p to the new group G includes determining an initial translation adjustment vector ΔT and iteratively adjusting a translation vector T using the initial translation adjustment vector ΔT; and determining the initial translation adjustment vector ΔT is performed using at least one of: a localized point-matching technique; and a maximum-likelihood technique.