Lyft, Inc.
SYSTEMS AND METHODS FOR ADAPTIVE CLUTTER REMOVAL FROM RADAR SCANS

Abstract:

Various embodiments of the present technology can include systems, methods, and non-transitory computer readable media configured to adaptively identify clutter points representing static objects from a sensor data scan. A plurality of sensor data scans are captured, by a sensor unit placed on a vehicle, at a plurality of consecutive time instants while the vehicle is traveling along a route. A set of target points from each of the plurality of sensor data scans is identified. A characteristic indicative of a trajectory pattern relating to one or more respective sets of target points is obtained from one or more sensor data scans taken at consecutive time instants. In response to determining that the characteristic satisfies a pre-defined condition, an indicator with the respective sets of target points is adopted as relating to one or more static objects in an environment at which the vehicle is situated.