Abstract: First feature points can be determined which correspond to pose-invariant surface model properties based on first data points included in a first lidar point cloud acquired by a sensor. A three-dimensional occupancy grid can be determined based on first data points included in the first lidar point cloud. Dynamic objects in a second lidar point cloud acquired by the sensor can be determined based on the occupancy grid. Second feature points can be determined which correspond to pose-invariant surface model properties based on second data points included in the second lidar point cloud not including the dynamic objects. A difference can be determined between corresponding feature points included in the first feature points and the second feature points. A traffic infrastructure system can be alerted based on the difference exceeding a threshold.

Abstract: An infrastructure component includes a sensor, a transmitter, and a computer communicatively coupled to the sensor and to the transmitter. The computer is programmed to, in response to receiving data from the sensor indicating an object approaching a predesignated zone, determine an estimated time until the object reaches the predesignated zone; and then instruct the transmitter to broadcast a message to nearby vehicles, the message including an identifier of the predesignated zone and the estimated time.