METHOD AND SYSTEM FOR DETECTING AND TRACKING OF MOVING OBJECTS BASED ON THREE-DIMENSIONAL SENSOR DATA Russian patent published in 2018 - IPC G06K9/62 G06T7/20 

FIELD: navigation system.

SUBSTANCE: invention relates to the detection and tracking of moving objects based on three-dimensional sensor data. Method obtains a sequence of frames in real time from a three-dimensional sensor; select moving points on the resulting sequence of frames; form a cluster of moving points; convert each cluster into a cloud of points of a moving object in the current frame; combine clouds of points of the same moving objects on the current and previous frames of the sequence of frames; form the accumulated cloud of points of the moving object by combining the cloud of points, the moving object of the current frame and the accumulated cloud of points; perform the culling of points from the formed point cloud; form a statistical model of a moving object, based on the accumulated cloud of points of the moving object; determine the coordinates, speed and dimensions of the moving object according to the generated statistical model of the moving object and the resulting displacement of the moving objects.

EFFECT: technical result is an improvement of the accuracy of detection of moving objects.

7 cl, 9 dwg