Mathematically combining remote sensing data with different resolution to create 3D maps

摘要

Data from remote sensing systems with different beamwidths can be combined in a mathematically correct way. One example method includes receiving, by one or more processors, a first data set corresponding to detection signals from a first sensing system over a first frame, wherein the spatial region is mathematically broken into one or more cells. The method also includes receiving a second data set corresponding to detection signals from a second sensing system over a second frame, wherein the second sensing system has a resolution different than the first sensing system. For each cell, numbers of times the cell has been seen or not-seen is determined. A probability that the cell is occupied is determined based on the number of times the cell has been seen or not-seen. A value of occupancy of the cell is determined from the probability that the cell is occupied.