Technologies for fusing data from multiple sensors to improve object detection, identification, and localization
AssigneeIntel Corporation
InventorsSoila Kavulya, Rita Chattopadhyay, Monica Lucia Martinez-Canales
Life of this patent
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Abstract
Technologies for performing sensor fusion include a compute device. The compute device includes circuitry configured to obtain detection data indicative of objects detected by each of multiple sensors of a host system. The detection data includes camera detection data indicative of a two or three dimensional image of detected objects and lidar detection data indicative of depths of detected objects. The circuitry is also configured to merge the detection data from the multiple sensors to define final bounding shapes for the objects.
Claims18
At least one non-transitory machine-readable storage medium comprising instructions, which when executed by processor circuitry of a computing device, cause the processor circuitry to perform operations to:
- obtain sensor data representative of an environment of a vehicle, the sensor data including:
- camera data providing at least one image of an object in the environment, and lidar data providing depth information of the object in the environment;
- synchronize the sensor data based on timestamps indicating time of capture for the camera data and the lidar data;
- define, from the camera data obtained at the time of capture, a first bounding box for the object;
- define, from the lidar data obtained at the time of capture, a second bounding box for the object;
- and
- fuse the first bounding box and second bounding box to define a fused bounding shape of the object, wherein fusion of the first bounding box and second bounding box is based on a confidence value that the first bounding box and the second bounding box refer to the object as the same object, wherein a distance of the object from the vehicle is used as a parameter for the fusion of the first bounding box and the second bounding box.
A computing device, comprising:
- at least one interface to receive sensor data representative of an environment of a vehicle, the sensor data including:
- camera data providing at least one image of an object in the environment, and lidar data providing depth information of the object in the environment;
- and
- at least one processor configured to perform operations to:
- synchronize the sensor data based on timestamps indicating time of capture for the camera data and the lidar data;
- define, from the camera data obtained at the time of capture, a first bounding box for the object;
- define, from the lidar data obtained at the time of capture, a second bounding box for the object;
- and
- fuse the first bounding box and second bounding box to define a fused bounding shape of the object, wherein fusion of the first bounding box and second bounding box is based on a confidence value that the first bounding box and the second bounding box refer to the object as the same object, wherein a distance of the object from the vehicle is used as a parameter for the fusion of the first bounding box and the second bounding box.
Dependencies are inferred from the claim text.