CV/perception data-association technique (Disney Research).
Embodiments provide for perceptual data association received from at least a first and a second sensor disposed at different positions in an environment, in respective time series of local scene graphs that identify several characteristics of at least one object in the environment that are updated different rates; merging, at an output rate, characteristics for each given object from the several time series of local scene graphs that are updated at the output rate; merging, at the output rate, characteristics for each given object from the time series of local scene graphs that are updated at rates other than the output rate; and outputting, at the output rate, a time series of global scene graphs including the merged characteristics.
BACKGROUND(1) Amalgamated image processing systems may combine the data from several camera sensors (among other sensors) into a coherent representation of an environment. Each of the camera sensors may produce data at different rates, from different perspectives, using different algorithms or models, etc., that a central processor interprets to build the coherent representation of the environment to make sense of the disparate data received.SUMMARY(2) The present disclosure provides, in one embodiment, a method for perceptual data association, comprising: receiving, from a first sensor disposed at a first position in an environment, a first time series of local scene graphs comprising a first characteristic of an object in the environment that is updated at a first rate and a second characteristic of the object that is updated at a second rate different from the first rate; receiving, from a second sensor disposed at a second position in the environment, a second time series of local scene graphs each comprising the first characteristic of the object that is updated at the first rate and the second characteristic of the object that is updated at a third rate different from the first rate and the second rate; merging the first time series of local scene graphs with the second time series of local scene graphs according to the first rate to determine a global first characteristic for the object at the first rate; merging the first time series of local scene graphs with the sec
1. A method, comprising: receiving, from a first sensor disposed at a first position in an environment, a first time series of local scene graphs comprising a first characteristic of an object in the environment that is updated at a first rate and a second characteristic of the object that is updated at a second rate different from the first rate; receiving, from a second sensor disposed at a second position in the environment, a second time series of local scene graphs each comprising the first characteristic of the object that is updated at the first rate and the second characteristic of the object that is updated at a third rate different from the first rate and the second rate; merging the first time series of local scene graphs with the second time series of local scene graphs according to the first rate to determine a global first characteristic for the object at the first rate; merging the first time series of local scene graphs with the second time series of local scene graphs according to the second rate and the third rate to determine a global second characteristic for the object at the first rate; and outputting a time series of global scene graphs including the global first characteristic and the global second characteristic at the first rate.
8. A system, comprising: a processor; and a memory storage device, including instructions that when executed by the processor enable the processor to: receive, from a first sensor disposed at a first position in an environment, a first time series of local scene graphs comprising a first characteristic of an object in the environment that is updated at a first rate and a second characteristic of the object that is updated at a second rate different from the first rate; receive, from a second sensor disposed at a second position in the environment, a second time series of local scene graphs each comprising the first characteristic of the object that is updated at the first rate and the second characteristic of the object that is updated at a third rate different from the first rate and the second rate; merge the first time series of local scene graphs with the second time series of local scene graphs according to the first rate to determine a global first characteristic for the object at the first rate; merge the first time series of local scene graphs with the second time series of local scene graphs according to the second rate and the third rate to determine a global second characteristic for the object at the first rate; and output a time series of global scene graphs including the global first characteristic and the global second characteristic at the first rate.
15. A non-transitory computer-readable medium containing computer program code that, when executed by operation of one or more computer processors, performs an operation comprising: receiving, from a first sensor disposed at a first position in an environment, a first time series of local scene graphs comprising a first characteristic of an object in the environment that is updated at a first rate and a second characteristic of the object that is updated at a second rate different from the first rate; receiving, from a second sensor disposed at a second position in the environment, a second time series of local scene graphs each comprising the first characteristic of the object that is updated at the first rate and the second characteristic of the object that is updated at a third rate different from the first rate and the second rate; merging the first time series of local scene graphs with the second time series of local scene graphs according to the first rate to determine a global first characteristic for the object at the first rate; merging the first time series of local scene graphs with the second time series of local scene graphs according to the second rate and the third rate to determine a global second characteristic for the object at the first rate; and outputting a time series of global scene graphs including the global first characteristic and the global second characteristic at the first rate.