This document describes techniques, systems, and methods for multi-scan sensor fusion for object tracking. A sensor-fusion system can obtain radar tracks and vision tracks generated for an environment of a vehicle. The sensor-fusion system maintains sets of hypotheses for associations between the vision tracks and the radar tracks based on multiple scans of radar data and vision data. The set of hypotheses include mass values for the associations. The sensor-fusion system determines a probability value for each hypothesis. Based on the probability value, matches between radar tracks and vision tracks are determined. The sensor-fusion system then outputs the matches to a semi-autonomous or autonomous driving system to control operation of the vehicle. In this way, the described techniques, systems, and methods can provide high-precision object tracking with quantifiable uncertainty.


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    Title :

    Multi-scan sensor fusion for object tracking


    Contributors:
    JIA BIN (author) / WANG XIAOHUI (author)

    Publication date :

    2024-10-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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