Occlusion resolving gated mechanism for sensor fusion

A method for processing sensor data, comprising:

• obtaining first sensor data of an environment from a first sensor, wherein the first sensor data includes a representation of a first object occluding a second object;
• obtaining second sensor data of the environment from a second sensor, wherein the second sensor data includes points associated with the first object and points associated with the second object, wherein the second sensor differs from the first sensor, wherein the second object is occluded from a view of the first sensor, and wherein the second object is unoccluded, at least in part, from a view of the second sensor;
• generating estimated segment data from the first sensor data, wherein the estimated segment data includes a first segment corresponding to the first object;
• transforming the first sensor data and the second sensor data based on at least one of intrinsic information or extrinsic information regarding the first sensor and second sensor, respectively, to a common coordinate frame;
• matching points associated with the first object to the first segment based on the transformed first sensor data and second sensor data;
• and
• deemphasizing points associated with the second object based on matching the points associated with the first object to the first segment.

A non-transitory computer-readable medium having stored thereon instructions that, when executed by at least one processor, cause the at least one processor to:

• obtain first sensor data of an environment from a first sensor, wherein the first sensor data includes a representation of a first object occluding a second object;
• obtain second sensor data of the environment from a second sensor, wherein the second sensor data includes points associated with the first object and points associated with the second object, wherein the second sensor differs from the first sensor, wherein the second object is occluded from a view of the first sensor, and wherein the second object is unoccluded, at least in part, from a view of the second sensor;
• generate estimated segment data from the first sensor data, wherein the estimated segment data includes a first segment corresponding to the first object;
• transform the first sensor data and the second sensor data based on at least one of intrinsic information or extrinsic information regarding the first sensor and second sensor, respectively, to a common coordinate frame;
• match points associated with the first object to the first segment based on the transformed first sensor data and second sensor data;
• and
• deemphasize points associated with the second object based on matching the points associated with the first object to the first segment.