Aligning sensor data for vehicle applications

A system comprising:

• a processing system including one or more processors and one or more memories storing instructions which, when executed by the processing system, cause the processing system to perform operations comprising:
• receiving first sensor data from a first sensor arrangement and second sensor data from a second sensor arrangement, wherein at least one of the first sensor data and the second sensor data include both image data and position data;
• determining, based on the first sensor data, a first set of top-down features and, based on the second sensor data, a second set of top-down features;
• determining, based on the first set of top-down features and the second set of top-down features, a transformation to align the second set of top-down features with the first set of top-down features;
• and
• determining, based on the transformation, vehicle control instructions for a vehicle.

A non-transitory, computer-readable medium storing instructions which, when executed by a processor, cause the processor to perform operations comprising:

• receiving first sensor data from a first sensor arrangement and second sensor data from a second sensor arrangement, wherein at least one of the first sensor data and the second sensor data include both image data and position data;
• determining, based on the first sensor data, a first set of top-down features and, based on the second sensor data, a second set of top-down features;
• determining, based on the first set of top-down features and the second set of top-down features, a transformation to align the second set of top-down features with the first set of top-down features;
• and
• determining, based on the transformation, vehicle control instructions for a vehicle.

A vehicle comprising:

• a processing system including one or more processors and one or more memories storing instructions which, when executed by the processing system, cause the processing system to perform operations comprising:
• receiving first sensor data from a first sensor arrangement and second sensor data from a second sensor arrangement, wherein at least one of the first sensor data and the second sensor data include both image data and position data;
• determining, based on the first sensor data, a first set of top-down features and, based on the second sensor data, a second set of top-down features;
• determining, based on the first set of top-down features and the second set of top-down features, a transformation to align the second set of top-down features with the first set of top-down features;
• and
• determining, based on the transformation, vehicle control instructions for a vehicle.