Patent 8705792 was granted and assigned to Toyota Motor Engineering & Manufacturing North America on April, 2014 by the United States Patent and Trademark Office.
A method of tracking objects within an environment comprises acquiring sensor data related to the environment, identifying linear features within the sensor data, and determining a set of tracked linear features using the linear features identified within the sensor data and a previous set of tracked linear features, the set of tracked linear features being used to track objects within the environment.