RF and optical message association

A method for performing data fusion of radio frequency (RF) and visual data, comprising:

• receiving, via a transceiver of, a vehicle-to-everything (V2X) message from a road entity, the V2X message including one or more V2X data elements descriptive of the road entity;
• capturing, using a camera, visible-light communication (VLC) modulated light data within a sensing area surrounding a vehicle, the modulated light data being sent from the road entity and carrying a modulated light transmission encoding one or more optical signaling data elements descriptive of the remote road entity;
• decoding the modulated light transmission in the modulated light data to identify the one or more optical signaling data elements in the modulated light data descriptive of the road entity;
• performing an association of the one or more V2X data elements with the one or more optical signaling data elements to identify associated V2X camera objects where the V2X message and the modulated light data refer to the same road entity, wherein the V2X data elements and the modulated light data are fused into a combined representation of the road entity;
• and
• processing the combined representation of the road entity based on the association.

A non-transitory computer-readable medium comprising instructions for performing data fusion of radio frequency (RF) and visual data that, when executed by one or more controllers of an ego road entity, causes the ego road entity to perform operations including to:

• receive, via a transceiver of the ego road entity, a vehicle-to-everything (V2X) message from a remote road entity, the V2X message including one or more V2X data elements descriptive of the remote road entity;
• capture, using a camera of the ego road entity, visible-light communication (VLC) modulated light data within a sensing area surrounding the ego road entity, the modulated light data being sent from the remote road entity and carrying a modulated light transmission encoding one or more optical signaling data elements descriptive of the remote road entity;
• decode the modulated light transmission in the modulated light data to identify the one or more optical signaling data elements in the modulated light data descriptive of the remote road entity;
• perform an association of the one or more V2X data elements with the one or more optical signaling data elements to identify associated V2X camera objects where the V2X message and the modulated light data refer to the same road entity, wherein the one or more V2X data elements and the modulated light data are fused into a combined representation of the remote road entity;
• and
• process the combined representation of the remote road entity based on the association.