US 12,327,364 B2
Generating a fused object bounding box based on uncertainty
Bin Jia, Columbia, MD (US)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on May 25, 2022, as Appl. No. 17/804,074.
Claims priority of provisional application 63/266,976, filed on Jan. 20, 2022.
Prior Publication US 2023/0230255 A1, Jul. 20, 2023
Int. Cl. G06K 9/00 (2022.01); B60W 60/00 (2020.01); G01S 7/41 (2006.01); G01S 7/48 (2006.01); G01S 13/72 (2006.01); G01S 13/86 (2006.01); G01S 13/89 (2006.01); G01S 13/931 (2020.01); G01S 17/66 (2006.01); G01S 17/86 (2020.01); G01S 17/931 (2020.01); G06T 7/20 (2017.01); G06T 7/70 (2017.01); G06V 10/25 (2022.01); G06V 20/58 (2022.01)
CPC G06T 7/20 (2013.01) [B60W 60/001 (2020.02); G01S 7/41 (2013.01); G01S 7/415 (2013.01); G01S 7/4802 (2013.01); G01S 7/4808 (2013.01); G01S 13/723 (2013.01); G01S 13/86 (2013.01); G01S 13/89 (2013.01); G01S 13/931 (2013.01); G01S 17/66 (2013.01); G01S 17/86 (2020.01); G01S 17/931 (2020.01); G06T 7/70 (2017.01); G06V 10/25 (2022.01); G06V 20/58 (2022.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2556/35 (2020.02); G06T 2207/30252 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining, based on first sensor data from a first sensor, a first bounding box for an object in a field of view of the first sensor;
obtaining, based on second sensor data from a second sensor, a second bounding box for the object in a field of view of the second sensor;
quantifying, based on at least one parameter of the first bounding box and at least one parameter of the second bounding box, an uncertainty associated with the first bounding box and the second bounding box, wherein quantifying the uncertainty comprises determining a combined distribution of the at least one parameter of the first bounding box and the corresponding at least one parameter of the second bounding box, and wherein the combined distribution is a sum of distributions of values for the at least one parameter of the first bounding box and the at least one parameter of the second bounding box;
generating, based on the quantified uncertainty, a fused bounding box for the object; and
outputting the fused bounding box to an object tracker for tracking the object.