Patent ID: 11885886
Assignee: FORD GLOBAL TECHNOLOGIES, LLC
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 22:
23. The method according to claim 22, wherein the matching comprises normalizing a plurality of probabilities determined for a given point of the LiDAR dataset in accordance with the following mathematical equation, dp
   ⁡
   (
   
    lp
    ∈
    
     d
     i
    
   
   )
  
  =
  
   
    
     p
     ⁡
     (
     
      ∃
      
       dlp
       ∈
       d
      
     
     )
    
    ⁢
    
     dp
     ⁡
     (
     
      
       lp
       ∈
       
        d
        i
       
      
      |
      
       ∃
       
        dlp
        ∈
        d
       
      
     
     )
    
   
   =
   
    
    
     
      
       [
       
        1
        -
        
         p
         ⁡
         (
         
          ∀
          
           dlp
           ∉
           d
          
         
         )
        
       
       ]
      
      ⁢
      
       
        ip
        ⁡
        (
        
         lp
         ∈
         
          d
          i
         
        
        )
       
       
        
         ∑
         detections
        
        
         ip
         ⁡
         (
         
          lp
          ∈
          d
         
         )
        
       
      
     
     ,
    
   
  
 

where ip(lp∈d) represents a probability that that a point of the LiDAR dataset projects into an image detection independent of all other image detections and p(∀d lp∉d) represents a probability that the LiDAR point does not project into any image detection.