Multiple hypothesis-based fusion of sensor data

A system, the system comprising:

• a processor configured to:
• determine a plurality of first object-tracks according to first sensor data obtained from a first set of sensors;
• determine a set of second object-tracks according to second sensor data obtained from a second set of sensors;
• select, from a plurality of pseudo measurement types, a pseudo measurement type that has a greater chance of being accurate than each other pseudo measurement type from the plurality of pseudo measurement types, the selecting based at least in part on a predefined error covariance associated with the first set of sensors;
• use the pseudo measurement type to determine a bounding box represented by the plurality of first object-tracks and the set of second object-tracks;
• output an indication of the bounding box as a match between one or more object-tracks from the plurality of first object-tracks with at least one object-track from the set of second object-tracks;
• wherein the processor is further configured to select the pseudo measurement type that has a greater chance of being accurate than each other pseudo measurement type from the plurality of pseudo measurement types by at least selecting a first pseudo measurement derived from a radar range indicated by the one or more object-tracks from the plurality of first object-tracks and further derived from a vision angle inferred by the at least one object-track from the set of second object-tracks;
• and
• wherein a reference point (x,y) to the bounding box is represented in an x-direction as a product between the radar range and a cosine of the vision angle, and is represented in a y-direction as a product between the radar range and a sine of the vision angle.

A non-transitory computer-readable storage medium comprising instructions that, when executed, configure at least one processor of a system to:

• determine a plurality of first object-tracks according to first sensor data obtained from a first set of sensors;
• determine a set of second object-tracks according to second sensor data obtained from a second set of sensors;
• select, from a plurality of pseudo measurement types, a pseudo measurement type that has a greater chance of being accurate than each other pseudo measurement type from the plurality of pseudo measurement types, the selecting based at least in part on a predefined error covariance associated with the first set of sensors;
• use the pseudo measurement type to determine a bounding box represented by the plurality of first object-tracks and the set of second object-tracks;
• and
• output an indication of the bounding box as a match between one or more object-tracks from the plurality of first object-tracks with at least one object-track from the set of second object-tracks;
• wherein the processor is further configured to select the pseudo measurement type that has a greater chance of being accurate than each other pseudo measurement type from the plurality of pseudo measurement types by at least selecting a first pseudo measurement derived from a radar range indicated by the one or more object-tracks from the plurality of first object-tracks and further derived from a vision angle inferred by the at least one object-track from the set of second object-tracks;
• and
• wherein a reference point (x,y) to the bounding box is represented in an x-direction as a product between the radar range and a cosine of the vision angle, and is represented in a y-direction as a product between the radar range and a sine of the vision angle.