METHOD AND APPARATUS FOR MODELING OBJECT, STORAGE MEDIUM, AND VEHICLE CONTROL METHOD

The present disclosure provides a method and apparatus for modeling an object. The method includes: obtaining a first group of point cloud frames associated with surroundings of a perception system; generating a hierarchical representation of an object in the surroundings based on the first group of point cloud frames; obtaining, from each frame of point cloud, a second group of point cloud frames associated with the surroundings, a group of points associated with the object and a first subset and a second subset of the group of points; determining, based on the first subset and the second subset, a first confidence and a second confidence; determining whether to change the hierarchical representation of the object based on the first confidence and the second confidence.