Apparatus and method for performing heterogeneous sensor fusion
AssigneesHyundai Motor Company, Kia Motors Corporation
InventorSeong Hwan Kim
Life of this patent
Estimating the term…
Abstract
A heterogeneous sensor fusion apparatus includes a point processor configured to detect a first object by processing a detection point input from a first sensor, an image processor configured to detect a second object by processing an image input from a second sensor, a point-matching unit configured to calculate a matching rate by matching the detection point with the image, and to determine whether the first object and the second object are identical based on the calculated matching rate, an association unit configured to generate track information by fusing information from the first sensor and the second sensor when the first object and the second object are identical, and an output unit configured to output the generated track information.
Claims20
A heterogeneous sensor fusion apparatus, comprising:
- a point processor configured to detect a first object by processing a detection point input from a first sensor;
- an image processor configured to detect a second object by processing an image input from a second sensor;
- a point-matching unit configured to:
- calculate a matching rate by matching the detection point with the image;
- and
- determine whether the second object and the first object are identical based on the calculated matching rate;
- an association unit configured to generate track information by fusing information from the first sensor and the second sensor when it is determined that the first object and the second object are identical;
- and
- an output unit configured to output the track information.
A heterogeneous sensor fusion method comprising:
- detecting, by a point processor, a first object by processing a detection point input from a first sensor;
- detecting, by an image processor, a second object by processing an image input from a second sensor;
- calculating, by a point-matching unit, a matching rate by matching the detection point with the image;
- determining, by a point-matching unit, whether the first object and the second object are identical based on the calculated matching rate;
- generating, by an association unit, track information by fusing information from the first sensor and the second sensor when the first object and the second object are identical;
- and
- outputting, by an output unit, the track information.
A computer-readable recording medium having a program recorded thereon, the program to direct a processor to perform acts of:
- detecting a first object by processing a detection point input from a first sensor;
- detecting a second object by processing an image input from a second sensor;
- calculating a matching rate by matching the detection point with the image;
- determining whether the first object and the second object are identical based on the calculated matching rate;
- generating track information by fusing information from the first sensor and the second sensor when the first object and the second object are identical;
- and
- outputting the track information.
A vehicle comprising:
- a first sensor configured to acquire a detection point corresponding to a first object around the vehicle;
- a second sensor configured to acquire an image of a region around the vehicle;
- and
- a heterogeneous sensor fusion apparatus configured to fuse information from the first sensor and the second sensor,
- wherein the heterogeneous sensor fusion apparatus is further configured to:
- detect the first object by processing a detection point input from the first sensor;
- detect a second object by processing an image input from the second sensor;
- calculate a matching rate by matching the detection point with the image;
- determine whether the first object and the second object are identical based on the calculated matching rate;
- generate track information by fusing the information from the first sensor and the second sensor when it is determined that the first object and the second object are identical;
- and
- output the generated track information.
Dependencies are inferred from the claim text.