Simultaneous Diagnosis And Shape Estimation From A Perceptual System Derived From Range Sensors

A system comprising one or more processors for executing instructions stored in non-transitory computer readable storage media, the instructions comprising:

• calculating a current shape reconstruction of an object based on sensor data;
• retrieving a prior shape reconstruction of the object;
• generating a shape point flag identifying non-faulty points in the prior shape reconstruction;
• generating a sensor point flag identifying non-faulty points in the sensor data;
• and
• fusing the shape point flag and the non-faulty points from the sensor point flag to compensate for uncertainties in the sensor data.

Non-transitory computer readable storage media storing instructions for execution by one or more processors, the instructions comprising:

• calculating a current shape reconstruction of an object based on sensor data;
• retrieving a prior shape reconstruction of the object;
• generating a shape point flag identifying non-faulty points in the prior shape reconstruction;
• generating a sensor point flag identifying non-faulty points in the sensor data;
• and
• fusing the shape point flag and the non-faulty points from the sensor point flag to compensate for uncertainties in the sensor data.