Tracking of objects using multiple sensors

A control arrangement configured to configured to track an object in a scene observed by a plurality of perception sensors comprised in a vehicle, the control arrangement being operable to:

• obtaining first sensor data from a first perception sensor, the first sensor data being indicative of the tracked object, the first sensor data comprising a first cluster of sensor data being detected at a first point in time and comprising a second cluster of sensor data being detected at a subsequent second point in time;
• obtaining second sensor data from a second perception sensor indicative of a candidate object, the second sensor data comprising a third cluster of sensor data being detected at a third point in time, the third point in time being between the first point in time and second point in time;
• determining a trace using the first cluster and the second cluster of the first sensor data;
• calculating a distance measure between the third cluster of sensor data and the determined trace;
• determining that the third cluster of sensor data is indicative of the tracked object if the calculated distance measure is below a distance threshold;
• and
• tracking the object using the first cluster, the second cluster and the third cluster if it is determined that the third cluster of sensor data is indicative of the tracked object;
• or
• tracking the object using the first cluster and the second cluster only if it is determined that the third cluster of sensor data is not indicative of the tracked object.

A vehicle comprising:

• a plurality of perception sensors;
• and
• a control arrangement configured to configured to track an object in a scene observed by the plurality of perception sensors, the control arrangement being operable to:
• obtaining first sensor data from a first perception sensor, the first sensor data being indicative of the tracked object, the first sensor data comprising a first cluster of sensor data being detected at a first point in time and comprising a second cluster of sensor data being detected at a subsequent second point in time;
• obtaining second sensor data from a second perception sensor indicative of a candidate object, the second sensor data comprising a third cluster of sensor data being detected at a third point in time, the third point in time being between the first point in time and second point in time;
• determining a trace using the first cluster and the second cluster of the first sensor data;
• calculating a distance measure between the third cluster of sensor data and the determined trace;
• determining that the third cluster of sensor data is indicative of the tracked object if the calculated distance measure is below a distance threshold;
• and
• tracking the object using the first cluster, the second cluster and the third cluster if it is determined that the third cluster of sensor data is indicative of the tracked object;
• or
• tracking the object using the first cluster and the second cluster only if it is determined that the third cluster of sensor data is not indicative of the tracked object.