Methods and systems for object detection using multiple sensors

摘要

Methods and systems for object detection using multiple sensors are described herein. In an example embodiment, a vehicle's computing device may receive sensor data frames indicative of an environment at different rates from multiple sensors. Based on a first frame from a first sensor indicative of the environment at a first time period and a portion of a first frame that corresponds to the first time period from a second sensor, the computing device may estimate parameters of objects in the vehicle's environment. The computing device may modify the parameters in response to receiving subsequent frames or subsequent portions of frame of sensor data from the sensors even if the frames arrive at the computing device out of order. The computing device may provide the parameters of the objects to systems of the vehicle for object detection and obstacle avoidance.

主权项

1. A method comprising:
receiving, at a computing system from a first sensor at a first rate, first sensor data corresponding to an environment of a vehicle; receiving, at the computing system from a second sensor at a second rate, second sensor data corresponding to the environment; determining, using probabilistic gating on a first data segment of the first sensor data and a portion of a first data segment of the second sensor data that correspond to the environment at a first time period, information indicative of parameters of one or more objects in the environment, wherein the probabilistic gating associates measurements within a given data segment of sensor data to respective objects in the environment; modifying, using probabilistic gating on a second data segment of the first sensor data and a subsequent portion of the first data segment of the second sensor data that correspond to the environment at a second time period, the information indicative of the parameters of the one or more objects; and providing, by the computing system, the modified information indicative of the parameters of the one or more objects to one or more systems of the vehicle.