Obstacle localization based on probabilistic consensus

A method for evaluating sensors on remote devices, the method comprising operations performed using an electronic processor, the operations comprising:

• storing a current probability density function (PDF) of objects within a location, the current PDF being created from a fusion of prior sensor readings of the objects sensed at the location;
• receiving first information from a first remote device at a first position within the location, the first information comprising a first vehicle identification, a first PDF of the objects within the location and a sensor identification that identifies a first sensor used to generate the first PDF;
• receiving second information from a second remote device at a second position within the location, the second information comprising a second vehicle identification, a second PDF of the objects within the location and a sensor identification that identifies a second sensor used to generate the second PDF, wherein the first information and the second information are received within a time period;
• determining a first rank for the first PDF based on a comparison of locations of the objects in the first PDF to locations of the objects in the current PDF;
• determining a second rank for the second PDF based on a comparison of locations of the objects in the second PDF to locations of the objects in the current PDF;
• combining the first PDF and the second PDF using the first rank and the second rank into a combined PDF and updating the current PDF based on the combined PDF, in response to determining the first rank and the second rank are not below a predetermined threshold;
• and
• causing an alert to be transmitted to the first remote device regarding performance of the first sensor based on the first rank being below the predetermined threshold, in response to determining the first rank is below the predetermined threshold and the second rank is not below the predetermined threshold, the alert providing an indication to check or replace the first sensor.

At least one non-transitory computer-readable medium including instructions for evaluating sensors on remote devices, the computer-readable medium comprising instructions that, when executed by a machine, cause the machine to perform operations comprising:

• storing a current probability density function (PDF) of objects within a location, the current PDF being created from a fusion of prior sensor readings of the objects sensed at the location;
• receiving first information from a first remote device at a first position within the location, the first information comprising a first vehicle identification, a first PDF of the objects within the location and a sensor identification that identifies a first sensor used to generate the first PDF;
• receiving second information from a second remote device at a second position within the location, the second information comprising a second vehicle identification, a second PDF of the objects within the location and a sensor identification that identifies a second sensor used to generate the second PDF, wherein the first information and the second information are received within a time period;
• determining a first rank for the first PDF based on a comparison of locations of the objects in the first PDF to locations of the objects in the current PDF;
• determining a second rank for the second PDF based on a comparison of locations of the objects in the second PDF to locations of the objects in the current PDF;
• combining the first PDF and the second PDF using the first rank and the second rank into a combined PDF and updating the current PDF based on the combined PDF, in response to determining the first rank and the second rank are not below a predetermined threshold;
• and
• causing an alert to be transmitted to the first remote device regarding performance of the first sensor based on the first rank being below the predetermined threshold, in response to determining the first rank is below the predetermined threshold and the second rank is not below the predetermined threshold, the alert providing an indication to check or replace the first sensor.