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System and method for fusing sensor outputs with different resolutions

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

Active Publication Date: 2022-07-08
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 sensor outputs with different resolutions
  • System and method for fusing sensor outputs with different resolutions
  • System and method for fusing sensor outputs with different resolutions

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Experimental program
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Embodiment Construction

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

[0020] The steps of the method are performed using a processor, such as a processor internal or external to one of the sensors. Measurements may be obtained directly from the sensors, or indirectly, eg, from memory storage and / or through 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 from the modality of the second sensor.

[0021] Some embodiments utilize sensor counts of different types and / or modalities to identi...

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Abstract

A method for fusing measurements of sensors with different resolutions jointly performs calibration of the sensors and fusion of their measurements to generate calibration parameters defining a geometric mapping between coordinate systems of the sensors and A set of fused measurements of modalities of a sensor having a resolution higher than that of the sensor. The calibration and the fusion are performed jointly to update the calibration parameters and the fusion measurement set 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 sensed data derived from different sensors. The integration or fusion of sensor data becomes increasingly important as scenes are captured using an increasing number of sensors and sensor modalities. Sensor fusion utilizes unique sensor modalities to provide complementary information about the environment, overcome hardware limitations, or reduce the data uncertainty caused by each individual sensor. For example, sensor fusion may utilize measurements from one sensor to increase (ie, upsample) the 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 me...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S7/497G01S17/04G01S17/894G01S17/93G01S13/86G01S17/86
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