Sensor information integration system, sensor information integration method, and program

A sensor information integration method of a sensor fusion apparatus, comprising:

• wherein the sensor fusion apparatus is connected to a first analysis apparatus that analyzes an output(s) of a first sensor(s), estimates a position of a first object, and generates first preciseness information about preciseness of the estimated position of the first object and a second analysis apparatus that analyzes an output(s) of a second sensor(s), estimates a position of a second object, and generates second preciseness information about preciseness of the estimated position of the second object and that integrates output results of the first and second analysis apparatuses,
• determining, based on the first and second preciseness information, one of the first and second objects to be a determination target object and the other object to be an association candidate object;
• calculating a distance between the determination target object and the association candidate object per directional axis that is determined from a position of a sensor corresponding to the determination target object;
• normalizing the distance calculated per directional axis by using the preciseness information corresponding to the determination target object;
• calculating a distance between the determination target object and the association candidate object as a post-normalization distance by using the distance normalized per directional axis;
• and
• causing the sensor fusion apparatus to determine whether the association candidate object matches the determination target object by using the post-normalization distance.

A non-transient computer readable medium storing a program, causing a computer mounted on a sensor fusion apparatus that is connected to a first analysis apparatus that analyzes an output(s) of a first sensor(s), estimates a position of a first object, and generates first preciseness information about preciseness of the estimated position of the first object and a second analysis apparatus that analyzes an output(s) of a second sensor(s), estimates a position of a second object, and generates second preciseness information about preciseness of the estimated position of the second object and integrates output results of the first and second analysis apparatuses, to perform processing for:

• determining, based on the first and second preciseness information, one of the first and second objects to be a determination target object and the other object to be an association candidate object;
• calculating a distance between the determination target object and the association candidate object per directional axis that is determined from a position of a sensor corresponding to the determination target object;
• normalizing the distance calculated per directional axis by using the preciseness information corresponding to the determination target object;
• calculating a distance between the determination target object and the association candidate object as a post-normalization distance by using the distance normalized per directional axis;
• and
• determining whether the association candidate object matches the determination target object by using the post-normalization distance.