Patent Document ID: 9607226
Application ID: 14791725
Patent Status: 1

Claim One:
1. A method comprising: receiving, at a computing system from a first sensor at a first rate, first sensor data corresponding to an environment of a vehicle; receiving, at the computing system from a second sensor at a second rate, second sensor data corresponding to the environment; determining, using probabilistic gating on a first data segment of the first sensor data and a portion of a first data segment of the second sensor data that correspond to the environment at a first time period, information indicative of parameters of one or more objects in the environment, wherein the probabilistic gating associates measurements within a given data segment of sensor data to respective objects in the environment; modifying, using probabilistic gating on a second data segment of the first sensor data and a subsequent portion of the first data segment of the second sensor data that correspond to the environment at a second time period, the information indicative of the parameters of the one or more objects; and providing, by the computing system, the modified information indicative of the parameters of the one or more objects to one or more systems of the vehicle.