Method and system for geo-spatial matching of sensor data to stationary objects

An apparatus for matching a geospatial message to one or more static objects on a link, the apparatus comprising:

• at least one processor;
• and
• at least one memory including computer program code for one or more programs, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to perform at least the following:
• identify a location of an observation point for observing the one or more static objects from a vehicle on the link;
• apply a spatial filtering criteria to each of the one or more static objects based on an observable distance of each of the one or more static objects from the location of the observation point to filter the one or more static objects, wherein the filtering the one or more static objects provides one or more filtered static objects;
• calculate a heading of the vehicle;
• apply a heading filtering criteria to the one or more filtered static objects based on the heading of the vehicle and a pre-computed heading of each of the one or more filtered static objects to provide one or more candidate objects;
• apply a distance filtering criteria to each of the one or more candidate objects to provide one or more remaining objects;
• and
• match the geospatial message to at least one of the one or more remaining objects based on the distance filtering criteria.

A computer program product for matching a geospatial message to one or more static objects on a link comprising at least one non-transitory computer-readable storage medium having computer-executable program code instructions stored therein, the computer-executable program code instructions comprising program code instructions for:

• identifying a location of an observation point for observing the one or more static objects from a vehicle on the link;
• applying a spatial filtering criteria to each of the one or more static objects based on an observable distance of each of the one or more static objects from the location of the observation point to filter the one or more static objects, wherein the filtering the one or more static objects provides one or more filtered static objects;
• calculating, by a processor, a heading of the vehicle;
• applying a heading filtering criteria to the one or more filtered static objects based on the heading of the vehicle and a pre-computed heading of each of the one or more filtered static objects to provide one or more candidate objects;
• applying a distance filtering criteria to each of the one or more candidate objects based on a first distance and a second distance, to provide one or more remaining objects;
• and
• matching the geospatial message to at least one of the one or more remaining objects based on the first distance and the second distance.