Data fusion for environmental model generation

A non-transitory computer readable medium for fusion of radar and visual information, the non-transitory computer readable medium stores instructions for:

• obtaining visual information and radar information about a three dimensional (3D) space located within a field of view of a camera that acquired the visual information and within a field of view of a radar that acquired the radar information;
• finding, following the obtaining and based on the visual information, estimated visual-detection-based (VDB) objects and estimated VDB locations of the estimated VDB objects within the 3D space;
• wherein the finding of the estimated VDB locations exhibits a distance inaccuracy that are represented by a distance ambiguity that is either a certain percent of the distance inaccuracy or certain amount of distance;
• and
• determining, following the obtaining, hybrid-detection-based (HDB) objects and HDB locations of the HDB objects, based on (i) the radar information, (ii) the estimated VDB objects, and (iii) the estimated VDB locations of the VDB objects, wherein determining the HDB objects and HDB locations comprises solving the distance ambiguity of the estimated VDB locations using the radar information by searching for radar-detection-based (RDB) objects within regions of interest defined by the estimated VDB locations and the distance ambiguity of the estimated VDB locations.

A system for fusion of radar and visual information, the system comprises a visual sensor, a radar and a processor;

• wherein the visual sensor is configured to acquire visual information about a three dimensional (3D) space;
• wherein the radar is configured to acquire radar information about the 3D space;
• wherein the processor is configured to find, based on the visual information, estimated visual-detection-based (VDB) objects and estimated VDB locations of the estimated VDB objects within the 3D space;
• wherein the finding of the estimated VDB locations exhibits a distance inaccuracy that are represented by a distance ambiguity that is either a certain percent of the distance inaccuracy or certain amount of distance;
• and
• wherein the processor is configured to determine, following an acquiring of the visual information and of the radar information, hybrid-detection-based (HDB) objects and HDB locations of the HDB objects, based on (i) the radar information, (ii) the estimated VDB objects, and (iii) the estimated VDB locations of the VDB objects, wherein determining the HDB objects and HDB locations comprises solving the distance ambiguity of the estimated VDB locations using the radar information by searching for radar-detection-based (RDB) objects within regions of interest defined by the estimated VDB locations and the distance ambiguity of the estimated VDB locations.