METHODS AND APPARATUS FOR UNSUPERVISED MULTIMODAL ANOMALY DETECTION FOR AUTONOMOUS VEHICLES

    公开(公告)号:US20190135300A1

    公开(公告)日:2019-05-09

    申请号:US16235917

    申请日:2018-12-28

    Abstract: An example includes obtaining first sensor data from a first sensor and second sensor data from a second sensor, the first sensor of a first sensor type different than a second sensor type of the second sensor; generating first encoded sensor data based on the first sensor data and second encoded sensor data based on the second sensor data; generating a contextual fused sensor data representation of the first and second sensor data based on the first and second encoded sensor data; generating first and second reconstructed sensor data based on the contextual fused sensor data representation; determining a deviation estimation based on the first and second reconstructed sensor data, the deviation estimation representative of a deviation between: (a) the first reconstructed sensor data, and (b) the first sensor data; and detecting an anomaly in the deviation estimation, the anomaly indicative of an error associated with the first sensor.

    Methods and apparatus for unsupervised multimodal anomaly detection for autonomous vehicles

    公开(公告)号:US11214268B2

    公开(公告)日:2022-01-04

    申请号:US16235917

    申请日:2018-12-28

    Abstract: An example includes obtaining first sensor data from a first sensor and second sensor data from a second sensor, the first sensor of a first sensor type different than a second sensor type of the second sensor; generating first encoded sensor data based on the first sensor data and second encoded sensor data based on the second sensor data; generating a contextual fused sensor data representation of the first and second sensor data based on the first and second encoded sensor data; generating first and second reconstructed sensor data based on the contextual fused sensor data representation; determining a deviation estimation based on the first and second reconstructed sensor data, the deviation estimation representative of a deviation between: (a) the first reconstructed sensor data, and (b) the first sensor data; and detecting an anomaly in the deviation estimation, the anomaly indicative of an error associated with the first sensor.

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