SYNCHRONIZING MULTI-MODAL SENSOR MEASUREMENTS FOR OBJECT TRACKING IN AUTONOMOUS SYSTEMS AND APPLICATIONS
In various examples, disclosed techniques introduce a time-window based sensor measurement scheduling engine that determines an ordering of measurements received from multiple sensors. The measurements may be sorted by detection time and submitted in sorted order to a sensor fusion system. Upon rece...
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Zusammenfassung: | In various examples, disclosed techniques introduce a time-window based sensor measurement scheduling engine that determines an ordering of measurements received from multiple sensors. The measurements may be sorted by detection time and submitted in sorted order to a sensor fusion system. Upon receiving measurements from sensors, the scheduling engine determines a current time window between a most recently-submitted measurement and a most recent camera measurement. Any measurements from other sensors, such as RADAR, that are less than a threshold amount of time ahead of or behind the current time window can be extrapolated to a time in the current time window for comparison with camera measurements. The scheduling engine then sorts the selected measurements based on their timestamps in the current time window, and submits the selected measurements to the fusion system in sorted order. The system may then perform downstream operations, such as object tracking, using the sorted measurements. |
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