US Patent 11462041 Pedestrians with objects

Detecting pedestrians with objects is described (pushing stroller, carts, opening doors, carrying umbrellas, etc.). In an example, a perception component of a vehicle can receive sensor data from sensor(s) associated with the vehicle. The perception component can determine, by a model, observation(s) associated with the sensor data, wherein an observation comprises a first object (e.g., a pedestrian). The perception component can determine whether the first object is associated with a second object (e.g., a pedestrian object), wherein the first object and the second object are associated with a compound object (e.g., a pedestrian/pedestrian object system). The perception component can provide the indication of the first object or an indication of the compound object to at least one of a prediction component or a planning component of the vehicle for controlling the vehicle.