Patent ID: 11893087
Assignee: ROBERT BOSCH GMBH
Field: Computer technology (Electrical engineering)
Classification: CPC G | IPC G

Claim 6:
7. The multimodal perception system of claim 1, wherein the controller is further configures to fuse the first, second, and third feature vectors and out-one-out vector into a fused feature vector according to

ei(z)=NN(⊕z−i)∀i∈[k],ek+1(z)=NN(⊕z),

in which ⊕ denotes a concatenation operation, NN stands for a shallow neural network, z is input, k is a modality, ei is a fusion of features from all the modalities except for i, and only ek+1 fuses features from all the modalities.