US Patent 10365650 Methods and systems for moving object velocity determination

Systems and method are provided for controlling an autonomous vehicle. The systems and methods obtain first and second time spaced point clouds based on three-dimensional position data, of a scene outside of the autonomous vehicle, from sensor of the autonomous vehicle. The systems and methods position align a static aspect of the scene in the first point cloud with a static aspect of the scene in the second point cloud to obtain position aligned first and second point clouds. The systems and methods determine, via a processor, a velocity of a moving object in the position aligned first and second point clouds. The systems and methods perform an autonomous vehicle control function using the velocity of the moving object.