Uber Technologies, Inc.
Object Detection and Determination of Motion Information Using Curve-Fitting in Autonomous Vehicle Applications

Abstract:

Generally, the present disclosure is directed to systems and methods for detecting objects of interest and determining location information and motion information for the detected objects based at least in part on sensor data (e.g., LIDAR data) provided from one or more sensor systems (e.g., LIDAR systems) included in the autonomous vehicle. The perception system can include a machine-learned detector model that is configured to receive multiple time frames of sensor data and implement curve-fitting of sensor data points over the multiple time frames of sensor data. The machine-learned model can be trained to determine, in response to the multiple time frames of sensor data provided as input, location information descriptive of a location of one or more objects of interest detected within the environment at a given time and motion information descriptive of the motion of each object of interest.