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System and method for fusing outputs of sensors having different resolutions

A sensor and resolution technology, applied in the field of sensing systems, which can solve problems such as low resolution and inaccuracy

Active Publication Date: 2018-09-28
MITSUBISHI ELECTRIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in some applications edge-matching based calibration is inaccurate due to the low resolution of sensor measurements

Method used

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  • System and method for fusing outputs of sensors having different resolutions
  • System and method for fusing outputs of sensors having different resolutions
  • System and method for fusing outputs of sensors having different resolutions

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Embodiment Construction

[0019] Figure 1A A block diagram of a method for jointly performing calibrating sensors and fusing sensor measurements according to some embodiments of the invention is shown. The method acquires 120 a first set of measurements of the scene 105 from the first sensor 110 and also acquires 125 a second set of measurements of the scene 105 from the second sensor 115 .

[0020] The steps of the method are performed with a processor, such as a processor internal or external to one of the sensors. Measurements may be taken directly from the sensors, or indirectly, eg from memory storage and / or via wired or wireless communication channels. In some embodiments, the resolution of the first sensor is lower than the resolution of the second sensor. Exceptionally, in some embodiments, the modality of the first sensor is different than the modality of the second sensor.

[0021] Some implementations utilize sensor numbers of different types and / or modalities to identify information abou...

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Abstract

A method for fusing measurements of sensors having different resolutions performs jointly a calibration of the sensors and a fusion of the their measurements to produce calibration parameters defininga geometrical mapping between coordinate systems of the sensors and a fused set of measurements that includes the modality of a sensor with resolution greater than its resolution. The calibration andthe fusion are performed jointly to update the calibration parameters and the fused set of measurements in dependence on each other.

Description

technical field [0001] The present invention relates to sensing systems and methods, and more particularly, to fusing sensor outputs having different resolutions. Background technique [0002] Sensor fusion is the process of combining sensing data derived from different sensors. Integration or fusion of sensor data becomes increasingly important as a scene is acquired using an increasing number of sensors and sensor modalities. Sensor fusion exploits unique sensor modalities to provide complementary information about the environment, overcome hardware limitations, or reduce data uncertainty due to each individual sensor. For example, sensor fusion may utilize measurements from one sensor to increase (ie, upsample) resolution with respect to data measured by another sensor. Additionally or alternatively, sensor fusion may utilize measurements from one sensor to annotate data measured by another sensor. [0003] For example, depth sensing is a technique for measuring depth ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/02G01S17/89G01S7/48G01S13/86G01S17/86G01S17/894
CPCG01S7/4808G01S13/867G06T5/50G06T2207/10024G06T2207/10028G06T2207/20221G06T2207/30261G01S17/86G01S17/894G06T3/4053G06V20/58H04N23/951G06T7/337G06T7/80
Inventor U·卡米洛夫J·卡斯托雷纳P·布富诺斯
Owner MITSUBISHI ELECTRIC CORP
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