Multimodal 3d object detection and tracking for decentralized object fusion

A device for tracking positions of objects near a vehicle, the device comprising:

• a memory;
• and
• a processing system implemented in circuitry, coupled to the memory, and configured to:
• receive values from one or more sensors of a vehicle;
• calculate a normalized innovation squared (NIS) value using the values from the one or more sensors and a predicted state formed by an object tracking unit of the vehicle;
• determine weight values to be used to weight the values from the one or more sensors and the predicted state according to a comparison of the NIS value to a threshold;
• and
• apply the weight values to the values from the one or more sensors and the predicted state to determine an updated state of positions of objects near the vehicle.

A computer-readable storage medium having stored thereon instructions that, when executed, cause a processing system to:

• receive values from one or more sensors of a vehicle;
• calculate a normalized innovation squared (NIS) value using the values from the one or more sensors and a predicted state formed by an object tracking unit of the vehicle;
• determine weight values to be used to weight the values from the one or more sensors and the predicted state according to a comparison of the NIS value to a threshold;
• and
• apply the weight values to the values from the one or more sensors and the predicted state to determine an updated state of positions of objects near the vehicle.