CV/perception data-association technique (continuation).
Embodiments provide for perceptual data association from at least a first and a second sensor disposed at different positions in an environment, in respective series of local scene graphs that identify characteristics of objects in the environment that are updated asynchronously and merging the series of local scene graphs to form a coherent image of the environment from multiple perspectives.
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 series of local scene graphs comprising a first value of a first characteristic of an object in the environment, wherein the first series of local scene graphs is associated with first local timing information for the first sensor; receiving, from a second sensor disposed at a second position in the environment, a second series of local scene graphs comprising a second value of the first characteristic of the object, wherein the second series of local scene graphs is associated with second local timing information for the second sensor and wherein the first series of local scene graphs are asynchronous with respect to the second series of local scene graphs; and outputting a series of global scene graphs including global characteristics of the object derived from merging the first series of local scene graphs with the second series of loc
1. A method, comprising: receiving, from a first sensor disposed at a first position in an environment, a first series of local scene graphs comprising a first value of a first characteristic of an object in the environment, wherein the first series of local scene graphs is associated with first local timing information for the first sensor; receiving, from a second sensor disposed at a second position in the environment, a second series of local scene graphs comprising a second value of the first characteristic of the object, wherein the second series of local scene graphs is associated with second local timing information for the second sensor and wherein the first series of local scene graphs are asynchronous with respect to the second series of local scene graphs; and outputting a series of global scene graphs including global characteristics of the object derived from merging the first series of local scene graphs with the second series of local scene graphs using the first local timing information and the second local timing information.
8. A method, comprising: receiving, from a first sensor disposed at a first position in an environment, a first series of local scene graphs comprising a first characteristic of a first object in the environment, wherein the first series of local scene graphs is associated with first local timing information for the first sensor; receiving, from a second sensor disposed at a second position in the environment, a second series of local scene graphs comprising a second characteristic of a second object, wherein the second series of local scene graphs is associated with second local timing information for the second sensor and wherein the first series of local scene graphs are asynchronous with respect to the second series of local scene graphs; and outputting a series of global scene graphs including global characteristics of the first object that include the first characteristic according to the first local timing information and the second characteristic from the second object according to the second local timing information.
15. A system, comprising: a processor; and a memory storage device, including instructions that when executed by the processor enable the processor to: receiving, from a first sensor disposed at a first position in an environment, a first series of local scene graphs comprising values for characteristics of objects identified in the environment, wherein the first series of local scene graphs is associated with first local timing information for the first sensor; receive, from a second sensor disposed at a second position in the environment, a second series of local scene graphs comprising values for characteristics of objects identified in the environment, wherein the second series of local scene graphs is associated with second local timing information for the second sensor and wherein the first series of local scene graphs are asynchronous with respect to the second series of local scene graphs; and output a series of global scene graphs including global values for the characteristics of the objects identified in the first series of local scene graphs and the second series of local scene graphs derived from merging the first series of local scene graphs with the second series of local scene graphs using the first local timing information and the second local timing information.