ARRANGEMENT AND METHOD FOR SENSOR FUSION

• Main Authors: FEITEN, Wendelin, FIEGERT, Michael
• Format: Patent
• Language: English; French; German
• Published: 21.12.2016
• Subjects: CALCULATING; COMPUTING; COUNTING; HANDLING RECORD CARRIERS; PHYSICS; PRESENTATION OF DATA; RECOGNITION OF DATA; RECORD CARRIERS

The invention relates to an arrangement and a method for sensor fusion. The invention includes an interface (IF1) for receiving sensor data (SD1, SD2,..., SD5) which originate from a plurality of real and/or virtual sensors that sense an environment, and at least one fusion machine (FM) for determining, in a computer-aided manner, a fused sensor signal (SI) based on received sensor data (SD1, SD2,..., SD5), wherein the at least one fusion machine (FM) is designed in such a way that it generates from the received sensor data (SD1, SD2,..., SD5) a factor graph (FG) which is processed by means of an inference machine (IM) that delivers the fused sensor signal (SI), wherein the factor graph (FG) includes a plurality of variable nodes (VN) having states (p1, p2,..., SD) of the sensed environment, said variable nodes being connected via edges (ED), and factor nodes (FN) having fusion models. Stored in the at least one fusion machine (FM) are a plurality of graph sections (GS1, GS2, GS3) which each show a factor graph sub-structure that includes at least one variable node (VN) having a configurable state (a, b, c, d) and at least one factor node (FN) having a configurable fusion model (FU). The at least one fusion machine (FM) is designed in such a way that it accesses configuration data (KO) and rules (RU), wherein the states (a, b, c, d) of the variable nodes (VN) and the fusion models (FU) of the graph sections (GS1, GS2, GS3) are configured via the configuration data (KO) and graph sections (GS1, GS2, GS3) are thereby instantiated, and wherein the rules (RU) define the generation of the factor graph (FG) by means of the instantiated graph structures (GS1, GS2, GS3).