VISION ALGORITHM PERFORMANCE USING LOW LEVEL SENSOR FUSION

摘要

A method and system (10) that performs low level fusion of radar (200) or LiDAR data with an image (402) from a camera (908). The system (10) includes a radar-sensor (904), a camera (908), and a controller (912). The radar-sensor (904) is used to detect a radar-signal (926) reflected by an object (902) in a radar-field-of-view (906). The camera (908) is used to capture an image (402) of the object (902) in a camera-field-of-view (910) that overlaps the radar (200)-field of view. The controller (912) is in communication with the radar-sensor (904) and the camera (908). The controller (912) is configured to determine a location of a radar-detection (400) in the image (402) indicated by the radar-signal (926), determine a parametric-curve (404) of the image (402) based on the radar (200) detections, define a region-of-interest (406) of the image (402) based on the parametric-curve (404) derived from the radar-detection (400), and process the region-of-interest (406) of the image (402) to determine an identity (914) of the object (902). The region-of-interest (406) may be a subset of the camera-field-of-view (910).