METHOD, APPARATUS, AND NON-TRANSITORY COMPUTER READABLE STORAGE MEDIUM FOR CONFIRMING A PERCEIVED POSITION OF A TRAFFIC LIGHT

A method, apparatus, and computer-readable medium for confirming a perceived position of a traffic light, by obtaining identifiers and results of a first perception of traffic lights associated with the identifiers, the results of the first perception including a first estimation of an ellipse encompassing each of the traffic lights, receiving results of a second perception of traffic lights associated with the identifiers, the results of the second perception including a second estimation of an ellipse encompassing each of the traffic lights, calculating, based on the first perception and the second perception, association parameters for each possible pair of estimated ellipses, selecting, based on the calculated association parameters for each possible pair of estimated ellipses, matching pairs of estimated ellipses, and fusing each matching pair of estimated ellipses.