System and method for fusing asynchronous sensor tracks in a track fusion application
An example method can include generating, via the first sensor, a first group of output tracks associated with a motion of a first target object; generating, via the second sensor, a second group of output tracks associated with the motion of a second target object; analyzing, via a track analysis module, the first group of output tracks and the second group of output tracks to determine whether the first target object and the second target object are a same object to yield a determination; and, when the determination indicates that the first target object and the second target object are the same object, presenting a graphical user interface on a computing device that enables a user to select whether to display on the graphical user interface: (1) a single track from the first group of output tracks or the second group of output tracks and (2) a fused group of tracks selected from the first group of output tracks or the second group of output tracks.
1. A method comprising:
generating, via a first sensor, a first group of output tracks associated with a motion of a first target object;
generating, via a second sensor, a second group of output tracks associated with the motion of a second target object;
analyzing, via a track analysis module, the first group of output tracks and the second group of output tracks to determine whether the first target object and the second target object are a same object to yield a determination; and
when the determination indicates that the first target object and the second target object are the same object, presenting a graphical user interface on a computing device that enables a user to select whether to display on the graphical user interface: (1) a single track from the first group of output tracks or the second group of output tracks and (2) a fused group of tracks selected from the first group of output tracks or the second group of output tracks.
2. The method of claim 1 , wherein the first group of output tracks are obtained via a first group of motion models operating on the first sensor and the second group of output tracks are obtained via a second group of motion models.
3. The method of claim 1 , wherein the determination is made based on at least one parameter comprising temporal correlation data, location data, speed data, motion data, an accuracy associated with the first sensor or the second sensor and latency and a quality associated with the first sensor or the second sensor.
4. The method of claim 1 , wherein the first sensor is of a first type and the second sensor is of a second type.
5. The method of claim 1 , wherein:
the first sensor comprises a first filter having a first motion model and a second filter having a second motion model, to yield a first tracking output calculated for the first target object using the first filter and a second tracking output calculated for the second target object using the second filter, the first tracking output and the second tracking output being part of the first group of output tracks; and
the second sensor comprises a third filter having a third motion model and a fourth filter having a fourth motion model, to yield a third tracking output calculated for the first target object using the third filter and a fourth tracking output calculated for the second target object using the fourth filter, the third tracking output and the fourth tracking output being part of the second group of output tracks.
6. A method comprising:
generating, via a first sensor, a first group of output tracks associated with a motion of a target object;
generating, via a second sensor, a second group of output tracks associated with the motion of the target object;
associating, via a track association module, a first group of similar tracks from the first group of output tracks and the second group of output tracks to yield a first set of associated output tracks;
associating, via the track association module, a second group of similar tracks from the first group of output tracks and the second group of output tracks to yield a second set of associated output tracks;
presenting a graphical user interface that enables a user to interact with a graphical object select whether to view (1) an individual track from the first group of output tracks and the second group of output tracks or (2) a fused set of tracks generated from one or more of the first set of associated output tracks and the second set of associated output tracks;
receiving an interaction with the graphical object from the user; and
presenting, on the graphical user interface, one or more of the individual track from the first group of output tracks and the second group of output tracks or the fused set of tracks generated from one or more of the first set of associated output tracks and the second set of associated output tracks.
7. The method of claim 6 , further comprising:
fusing, via a track fusion module, the first group of similar tracks into a first fused track; and
fusing, via the track fusion module, the second group of similar tracks into a second fused track, wherein the fused set of tracks comprises one or more of the first fused track and the second fused track.
8. The method of claim 6 , wherein:
the first sensor comprises a first filter having a first motion model and a second filter having a second motion model, to yield a first tracking output calculated for the target object using the first filter and a second tracking output calculated for the target object using the second filter, the first tracking output and the second tracking output being part of the first group of output tracks; and
the second sensor comprises a third filter having a third motion model and a fourth filter having a fourth motion model, to yield a third tracking output calculated for the target object using the third filter and a fourth tracking output calculated for the target object using the fourth filter, the third tracking output and the fourth tracking output being part of the second group of output tracks.
9. The method of claim 8 , further comprising:
weighting the first group of output tracks and the second group of output tracks, to yield a set of weights comprising a first weight associated with the first group of output tracks and a second weight associated with the second group of output tracks; and
initializing at least one filter using a fused tracking output and using at least one of the first fused track, the second fused track and the set of weights to perform an interactive multiple model propagation to a future time.
10. The method of claim 6 , further comprising:
aligning the first group of output tracks and the second group of output tracks in time to yield a first time aligned track and a second time aligned track, wherein the first group of output tracks and the second group of output tracks are aligned by projecting the first group of output tracks and the second group of output tracks to a common time step based on a first weight associated with the first group of output tracks and a second weight associated with the second group of output tracks; and
associating the first time aligned track with the second time aligned track based on a determination that the first time aligned track and the second time aligned track represent a same target object.
11. The method of claim 6 , further comprising:
after associating the first time aligned track and the second time aligned track, combining the first time aligned track and the second time aligned track to yield a single fused track associated with the target object.
12. The method of claim 6 , wherein a sum of all weights associated with the first fused track and the second fused track is equal to 1.
13. The method of claim 12 , wherein respective state and error covariance variables associated with the first fused track and the second fused track comprise at least one of respective velocity variables, respective position variables, respective motion variables, and respective angle variables.
14. The method of claim 13 , wherein a first type of the first sensor and a second type of the second sensor each relate to one or more of a motion sensor, a radio frequency sensor, a sound sensor, an optical sensor, a rangefinder, a radar sensor and an automatic dependent surveillance-broadcast sensor.
15. A system comprising:
one or more processors;
a first sensor;
a second sensor;
a track analysis module; and
at least one computer-readable storage medium having instructions stored which, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
generating, via the first sensor, a first group of output tracks associated with a motion of a first target object;
generating, via the second sensor, a second group of output tracks associated with the motion of a second target object;
analyzing, via a track analysis module, the first group of output tracks and the second group of output tracks to determine whether the first target object and the second target object are a same object to yield a determination; and
when the determination indicates that the first target object and the second target object are the same object, presenting a graphical user interface on a computing device that enables a user to select whether to display on the graphical user interface: (1) a single track from the first group of output tracks or the second group of output tracks and (2) a fused group of tracks selected from the first group of output tracks or the second group of output tracks.
16. The system of claim 15 , wherein:
the first sensor comprises a first filter having a first motion model and a second filter having a second motion model, to yield a first tracking output calculated for the first target object using the first filter and a second tracking output calculated for the second target object using the second filter, the first tracking output and the second tracking output being part of the first group of output tracks; and
the second sensor comprises a third filter having a third motion model and a fourth filter having a fourth motion model, to yield a third tracking output calculated for the first target object using the third filter and a fourth tracking output calculated for the second target object using the fourth filter, the third tracking output and the fourth tracking output being part of the second group of output tracks.
17. The system of claim 16 , wherein the at least one computer-readable storage medium stores further instructions which, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
weighting the first group of output tracks and the second group of output tracks, to yield a set of weights comprising a first weight associated with the first group of output tracks and a second weight associated with the second group of output tracks; and
initializing at least one filter using the fused tracking output and using at least one of the first fused track, the second fused track and the set of weights to perform an interactive multiple model propagation to a future time.
18. The system of claim 17 , wherein the at least one computer-readable storage medium stores further instructions which, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
aligning the first group of output tracks and the second group of output tracks in time to yield a first time aligned track and a second time aligned track, wherein the first group of output tracks and the second group of output tracks are aligned by projecting the first group of output tracks and the second group of output tracks to a common time step based on a first weight associated with the first group of output tracks and a second weight associated with the second group of output tracks; and
associating the first time aligned track with the second time aligned track based on a determination that the first time aligned track and the second time aligned track represent a same target object.
19. The system of claim 18 , wherein the at least one computer-readable storage medium stores further instructions which, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
after associating the first time aligned track and the second time aligned track, combining the first time aligned track and the second time aligned track to yield a single fused track associated with the target object.
20. A system comprising:
one or more processors;
a first sensor;
a second sensor;
a track analysis module; and
at least one computer-readable storage medium having instructions stored which, when executed by the one or more processors, cause the one or more processors to perform operations comprising:
generating, via a first sensor, a first group of output tracks associated with a motion of a target object;
generating, via a second sensor, a second group of output tracks associated with the motion of the target object;
associating, via a track association module, a first group of similar tracks from the first group of output tracks and the second group of output tracks to yield a first set of associated output tracks;
associating, via the track association module, a second group of similar tracks from the first group of output tracks and the second group of output tracks to yield a second set of associated output tracks;
presenting a graphical user interface that enables a user to interact with a graphical object select whether to view (1) an individual track from the first group of output tracks and the second group of output tracks or (2) a fused set of tracks generated from one or more of the first set of associated output tracks and the second set of associated output tracks;
receiving an interaction with the graphical object from the user; and
presenting on the graphical user interface one or more of the individual track from the first group of output tracks and the second group of output tracks or the fused set of tracks generated from one or more of the first set of associated output tracks and the second set of associated output tracks.