US 2025/0029374 A1 · METHOD FOR COMBINING SENSOR DATA IN THE CONTEXT OF AN ARTIFICIAL NEURAL NETWORK

Abstract

A method and system for fusing data from at least one sensor, including: receiving input sensor data, wherein the input sensor data include: first and second representations including first and second regions, respectively, of a scene, wherein the first and second regions overlap one another but are not identical; determining first and second feature maps on the basis of the first and second representations, respectively; computing first and second output feature maps by a convolution of the first and second feature maps, respectively; and computing a fused feature map through element-by-element addition of the first and second output feature maps, wherein the relative position of the first and second regions to one another is used, such that the elements in the region of overlap are added; and outputting the fused feature map. The method is runtime-efficient and deployed to fuse data from environment sensors for a vehicle's ADAS/AD system.

Claims18

Dependent claims

A method for fusing sensor data, comprising the following steps:

a) receiving input sensor data, wherein the input sensor data comprise:
a first representation which comprises a first region of a scene, and
a second representation which comprises a second region of the scene, wherein the first and second regions overlap one another, but are not identical;
b) determining a first feature map with a first height and width on the basis of the first representation and determining a second feature map with a second height and width on the basis of the second representation;
c) computing a first output feature map by a first convolution of the first feature map, and computing a second output feature map by a second convolution of the second feature map;
d) computing a fused feature map through element-by-element addition of the first and second output feature maps, wherein a position of the first and the second region with respect to one another is used to compute the fused feature map, such that elements in the region of overlap are added;
and
e) outputting the fused feature map.

5 more elements

A system for fusing sensor data, comprising an input interface, a data processing unit and an output interface, wherein

a) the input interface is configured to receive input sensor data, wherein the input sensor data comprise:
a first representation which comprises a first region of a scene, and
a second representation which comprises a second region of the scene, wherein the first and second regions overlap one another but are not identical;
b) the data processing unit is configured to:
determine a first feature map with a first height and width on the basis of the first representation and determine a second feature map with a second height and width on the basis of the second representation;
compute a first output feature map by a first convolution of the first feature map, and compute a second output feature map by a second convolution of the second feature map;
and
compute a fused feature map through element-by-element addition of the first and second output feature maps, wherein a position of the first and the second region with respect to one another is used when computing the fused feature map, such that a elements in the region of overlap are added;
and
c) the output interface is configured to output the fused feature map.

7 more elements

Dependencies are inferred from the claim text.

Method for combining sensor data in the context of an artificial neural network

Life of this patent

Method for combining sensor data in the context of an artificial neural network

Life of this patent

Abstract

Claims18