Feature fusion for near field and far field images for vehicle applications

An apparatus, comprising:

• a memory storing processor-readable code;
• and
• at least one processor coupled to the memory, the at least one processor configured to execute the processor-readable code to cause the at least one processor to perform operations including:
• receiving a first plurality of images captured by near-field image sensors and a second plurality of images captured by far-field image sensors;
• determining a first set of feature vectors from the first plurality of images and a second set of feature vectors from the second plurality of images;
• determining a first set of weighted feature vectors based on spatial locations for features from the first set of feature vectors and the second set of feature vectors;
• determining a second set of weighted feature vectors based on corresponding features between the first set of feature vectors and the second set of feature vectors;
• determining fused feature vectors based on the first set of weighted feature vectors and the second set of weighted feature vectors;
• and
• controlling a vehicle based on the fused feature vectors.

A non-transitory computer-readable medium storing instructions that, when executed by a processor, cause the processor to perform operations comprising:

• receiving a first plurality of images captured by near-field image sensors and a second plurality of images captured by far-field image sensors;
• determining a first set of feature vectors from the first plurality of images and a second set of feature vectors from the second plurality of images;
• determining a first set of weighted feature vectors based on spatial locations for features from the first set of feature vectors and the second set of feature vectors;
• determining a second set of weighted feature vectors based on corresponding features between the first set of feature vectors and the second set of feature vectors;
• determining fused feature vectors based on the first set of weighted feature vectors and the second set of weighted feature vectors;
• and
• controlling a vehicle based on the fused feature vectors.

A vehicle, comprising:

• near-field image sensors;
• far-field image sensors;
• a memory storing processor-readable code;
• and
• at least one processor coupled to the memory, the at least one processor configured to execute the processor-readable code to cause the at least one processor to perform operations including:
• receiving a first plurality of images captured by the near-field image sensors and a second plurality of images captured by the far-field image sensors;
• determining a first set of feature vectors from the first plurality of images and a second set of feature vectors from the second plurality of images;
• determining a first set of weighted feature vectors based on spatial locations for features from the first set of feature vectors and the second set of feature vectors;
• determining a second set of weighted feature vectors based on corresponding features between the first set of feature vectors and the second set of feature vectors;
• determining fused feature vectors based on the first set of weighted feature vectors and the second set of weighted feature vectors;
• and
• controlling the vehicle based on the fused feature vectors.