Information processing device, information processing method, computer program, and mobile device

An information processing method comprising:

• a first recognition step of performing a first recognition processing on an object based on a detection signal of a first sensor, the first recognition processing resulting in a first recognition result;
• and
• a processing step of:
• assessing a quality of the first recognition result and
• based on the quality of the first recognition result, performing early fusion processing on first raw data from the first sensor and second raw data from a second sensor.

A storage device storing a computer program for causing a computer to function as:

• a first recognition unit configured to perform a first recognition processing on an object based on a detection signal of a first sensor, the first recognition processing resulting in a first recognition result;
• and
• a processing unit configured to:
• assess a quality of the first recognition result, and
• based on the quality of the first recognition result, perform early fusion processing on first raw data from the first sensor and second raw data from a second sensor.

An information processing device comprising:

• a first sensor processing unit configured to receive first raw data from a first sensor;
• a second sensor processing unit configured to receive second raw data from a second sensor;
• a first recognition unit configured to perform first recognition processing on the first raw data and to generate a first recognition result;
• a second recognition unit configured to perform second recognition processing on the second raw data and to generate a second recognition result;
• an early fusion processor configured to perform fusion processing using the first raw data and second raw data and to generate an early fusion output;
• a late fusion processor configured to perform fusion processing on the first recognition result and the second recognition result and to generate a late fusion output;
• and
• a processor configured to process the early fusion output and the late fusion output to generate a combined recognition result.

An information processing method comprising:

• a receiving step of receiving first raw data from a first sensor and second raw data from a second sensor;
• a first recognition step of performing first recognition processing on the first raw data and to generate a first recognition result;
• a second recognition step of performing second recognition unit configured to perform second recognition processing on the second raw data and to generate a second recognition result;
• and
• a processing step of:
• early fusion processing using the first raw data and second raw data to generate an early fusion output,
• late fusion processing on the first recognition result and the second recognition result to generate a late fusion output, and
• processing the early fusion output and the late fusion output to generate a combined recognition result.