Adaptive multi-sensor data fusion method and system based on mutual information
US11210801B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 13, 2021 |
| Grant date | Dec 28, 2021 |
| Priority date | — |
| Expiry date | Aug 13, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/20221
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
An adaptive multi-sensor data fusion method based on mutual information includes: receiving an RGB image of a road surface collected by a camera; receiving point cloud data of the road surface collected synchronously by LIDAR; preprocessing the point cloud data to obtain dense point cloud data; and inputting the RGB image and the dense point cloud data into a pre-established and well-trained fusion network, to output data fusion results. The fusion network is configured to calculate mutual information of a feature tensor and an expected feature of input data, assign fusion weights of the input data according to the mutual information, and then output the data fusion results according to the fusion weights. In the new method, such information theory tool as mutual information is introduced, to calculate the correlation between the extracted feature of the input data and the expected feature of the fusion network.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.