Outlier detection for vehicle motion estimation

Abstract

A system for determining the presence of one or more outliers in the plurality of measurements from a vehicle motion estimation system has radar sensors to obtain measurements relating to one or more first unknown motion parameters of a vehicle; one or more inertial sensors to obtain measurements relating to one or more second unknown motion parameters of the vehicle, wherein the total number of sensors is at least one more than the total number of unknown motion parameters; and processing circuitry to: acquire a measurement of each of the first unknown motion parameters from the one or more radar sensors; acquire a measurement of each of the second unknown motion parameters from the one or more inertial sensors; determine an estimated value for each of the first and second unknown motion parameters based on the received measurements; determine a residual between the estimated values and the received measurements; and determine the presence of one or more outliers in the plurality of measurements if the determined residual fails to meet an acceptance criterion.

Dependencies are inferred from the claim text.