Patent Document ID: 9256226
Application ID: 14252966
Patent Status: 1

Claim One:
1. A method for maneuvering a vehicle, the method comprising: selecting, by one or more processors, a set of points from a plurality of data points generated by a sensor, each data point of the plurality of data points representing a three-dimensional location of a point corresponding to a surface of an object located on a section of roadway, the set of points being indicative of an object in the section of roadway; estimating, by the one or more processors, a bounding box for the set of points based on a detailed map of the section of roadway; projecting, by the one or more processors, the set of data points onto a two-dimensional intensity map within the estimated bounding box; identifying, by the one or more processors, an edge of the bounding box visible to the sensor; adjusting, by the one or more processors, a parameter of the estimated bounding box in order to increase a number of data points of the set of data points projected along the identified edge; and using, by the one or more processors, the estimated bounding box including the adjusted parameter to maneuver the vehicle.