Fusing multi-sensor data sets according to relative geometrical relationships
First Claim
1. A method comprising:
- receiving a first sensor data set and a second sensor data set generated in response to sensing one or more structures, the sensor data sets describing a plurality of structural features of the structures;
generating a plurality of first delta vector sets for the first sensor data set and a plurality of second delta vector sets for the second sensor data set, each delta vector set comprising one or more delta vectors for a structural feature, a delta vector indicating one or more relative geometrical relationships between the structural feature and one or more other structural features of the each sensor data set; and
determining a plurality of association scores for a plurality of delta pairs, a delta pair comprising a first delta vector set and a second delta vector set; and
identifying a plurality of same feature delta pairs according to the association scores, a same feature delta vector set comprising a delta pair corresponding to the same structural feature.
1 Assignment
0 Petitions
Accused Products
Abstract
In particular embodiments, fusing multi-sensor data sets includes receiving a first sensor data set and a second sensor data set generated in response to sensing a structure. The sensor data sets describe structural features of the structure. First delta vector sets are generated for the first sensor data set, and second delta vector sets are generated for the second sensor data set. Each delta vector set comprises delta vectors indicating relative geometrical relationships between a structural feature and other structural features. Association scores are determined for delta pairs comprising a first delta vector set and a second delta vector set. Same feature delta pairs are identified according to the association scores. A same feature delta vector set comprises a delta pair corresponding to the same structural feature.
-
Citations
20 Claims
-
1. A method comprising:
-
receiving a first sensor data set and a second sensor data set generated in response to sensing one or more structures, the sensor data sets describing a plurality of structural features of the structures; generating a plurality of first delta vector sets for the first sensor data set and a plurality of second delta vector sets for the second sensor data set, each delta vector set comprising one or more delta vectors for a structural feature, a delta vector indicating one or more relative geometrical relationships between the structural feature and one or more other structural features of the each sensor data set; and determining a plurality of association scores for a plurality of delta pairs, a delta pair comprising a first delta vector set and a second delta vector set; and identifying a plurality of same feature delta pairs according to the association scores, a same feature delta vector set comprising a delta pair corresponding to the same structural feature. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
-
-
10. An apparatus comprising:
-
a memory configured to store a first sensor data set and a second sensor data set generated in response to sensing one or more structures, the sensor data sets describing a plurality of structural features of the structures; one or more processors coupled to the memory and configured to; generate a plurality of first delta vector sets for the first sensor data set and a plurality of second delta vector sets for the second sensor data set, each delta vector set comprising one or more delta vectors for a structural feature, a delta vector indicating one or more relative geometrical relationships between the structural feature and one or more other structural features of the each sensor data set; determine a plurality of association scores for a plurality of delta pairs, a delta pair comprising a first delta vector set and a second delta vector set; identify a plurality of same feature delta pairs according to the association scores, a same feature delta vector set comprising a delta pair corresponding to the same structural feature; and assign one or more first features of the first sensor data set to one or more second features of the second sensor data set according to the same feature delta pairs. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
-
-
19. One or more computer readable storage media storing logic executable by a processor, the logic configured to:
-
store a first sensor data set and a second sensor data set generated in response to sensing one or more structures, the sensor data sets describing a plurality of structural features of the structures; generate a plurality of first delta vector sets for the first sensor data set and a plurality of second delta vector sets for the second sensor data set, each delta vector set comprising one or more delta vectors for a structural feature, a delta vector indicating one or more relative geometrical relationships between the structural feature and one or more other structural features of the each sensor data set; determine a plurality of association scores for a plurality of delta pairs, a delta pair comprising a first delta vector set and a second delta vector set; identify a plurality of same feature delta pairs according to the association scores, a same feature delta vector set comprising a delta pair corresponding to the same structural feature; and assign one or more first features of the first sensor data set to one or more second features of the second sensor data set according to the same feature delta pairs. - View Dependent Claims (20)
-
Specification