US 11,887,335 B2
Technologies for fusing data from multiple sensors to improve object detection, identification, and localization
Soila Kavulya, Hillsboro, OR (US); Rita Chattopadhyay, Chandler, AZ (US); and Monica Lucia Martinez-Canales, Los Altos, CA (US)
Assigned to Intel Corporation, Santa Clara, CA (US)
Filed by Intel Corporation, Santa Clara, CA (US)
Filed on Dec. 23, 2021, as Appl. No. 17/561,478.
Application 17/561,478 is a continuation of application No. 16/232,147, filed on Dec. 26, 2018, granted, now 11,423,570.
Prior Publication US 2022/0114752 A1, Apr. 14, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/73 (2017.01)
CPC G06T 7/74 (2017.01) [G06T 7/73 (2017.01); G06T 2200/04 (2013.01); G06T 2207/10028 (2013.01)] 18 Claims
OG exemplary drawing
 
1. At least one non-transitory machine-readable storage medium comprising instructions, which when executed by processor circuitry of a computing device, cause the processor circuitry to perform operations to:
obtain sensor data representative of an environment of a vehicle, the sensor data including:
camera data providing at least one image of an object in the environment, and lidar data providing depth information of the object in the environment;
synchronize the sensor data based on timestamps indicating time of capture for the camera data and the lidar data;
define, from the camera data obtained at the time of capture, a first bounding box for the object;
define, from the lidar data obtained at the time of capture, a second bounding box for the object; and
fuse the first bounding box and second bounding box to define a fused bounding shape of the object, wherein fusion of the first bounding box and second bounding box is based on a confidence value that the first bounding box and the second bounding box refer to the object as the same object, wherein a distance of the object from the vehicle is used as a parameter for the fusion of the first bounding box and the second bounding box.