Systems and methods for cooperative sensor fusion by parameterized covariance generation in connected autonomous vehicles

A method, comprising:

• accessing at a connected device of a plurality of connected devices, sensor measurements from a plurality of sensors onboard the connected device;
• generating an observation covariance matrix for the sensor measurements based a measured distance between each sensor and an observed location of an object;
• determining, for each connected device of the plurality of connected devices, a local fused sensor measurement using the observation covariance matrix;
• generating a localization covariance matrix using local fused sensor measurements associated with the plurality of connected devices and measured velocities of the plurality of connected devices with respect to a global coordinate system;
• and
• determining, at an external computing platform in communication with the plurality of connected devices, a global fused sensor measurement indicating a location of the object using the localization covariance matrix.

One or more non-transitory computer-readable media including instructions executable by one or more processors to:

• access, at a connected device of a plurality of connected devices, sensor measurements from a plurality of sensors onboard the connected device;
• generate, at the connected device, an observation covariance matrix for the sensor measurements based a measured distance between each sensor and an observed location of an object;
• determine, for each connected device of the plurality of connected devices, a local fused sensor measurement using the observation covariance matrix;
• generate a localization covariance matrix using local fused sensor measurements associated with the plurality of connected devices and measured velocities of the plurality of connected devices with respect to a global coordinate system;
• and
• determine, at an external computing platform in communication with the plurality of connected devices, a global fused sensor measurement indicating a location of the object using the localization covariance matrix.