Patent Document ID: 20150356454
Application ID: 14828383
Patent Flag: 0

Claim One:
1. A method for fusing outputs from multiple LiDAR sensors, said method comprising: providing object files for objects detected by the LiDAR sensors at a previous sample time, said object files having object models that identify a position, orientation and velocity of the objects detected by the sensors; tracking the object models of the objects detected by the sensors; projecting tracked object models in the object files from the previous scan time to provide predicted object models; receiving a plurality of scan returns from objects detected in a field-of-view of the sensors at a current sample time; segmenting the scan returns into predicted scan clusters where each scan cluster initially identifies an object detected by the sensors; matching the predicted scan clusters with the predicted object models; merging predicted object models that have been identified as separate scan clusters in the previous sample time but are now identified as a single scan cluster in the current sample time.