Patent ID: 8625905

Claim:
A method for classifying objects in motion, comprising: providing, to one or more processors, feature data for one or more classes of objects to be classified, wherein the feature data is indexed by object class, orientation, and sensor; providing, to the one or more processors, one or more representative models for characterizing one or more orientation motion profiles for the one or more classes of objects in motion; acquiring, via the one or more processors, feature data for a target object in motion, time of feature data, and trajectory of the target object in motion; generating, via the one or more processors, reference feature data while the target object is in motion based on the acquired object class and trajectory of the target object in motion by: selecting an object class; selecting an orientation motion profile for the selected object class; for each point in time that feature data is collected by the at least one sensor for the target object in motion, the selected orientation motion profile and the trajectory of the target object in motion are used to determine the orientation of the target object in motion, a feature is selected from the feature database based on the sensor, object class, and orientation of the target object in motion; classifying, via the one or more processors, the target object during motion of the target object based on the generated reference feature data and the acquired feature data for the target object in motion.