Initial commit

2026-03-04 00:08:42 +00:00
commit 4d88dc0584
4449 changed files with 1556714 additions and 0 deletions
@@ -0,0 +1,50 @@
+//! Sensor fusion for autonomous vehicles
+
+use crate::{VisionResult, VisionError};
+use crate::detection::three_d::BoundingBox3D;
+use crate::autonomous::{SensorFrame, TrackedObject};
+
+/// Multi-sensor fusion system
+pub struct SensorFusion {
+    fusion_method: FusionMethod,
+}
+
+impl SensorFusion {
+    pub fn new() -> VisionResult<Self> {
+        Ok(Self {
+            fusion_method: FusionMethod::EarlyFusion,
+        })
+    }
+    
+    /// Fuse detections from multiple sensors
+    pub fn fuse_detections(&self, detections: &[BoundingBox3D], frame: &SensorFrame) -> VisionResult<Vec<BoundingBox3D>> {
+        match self.fusion_method {
+            FusionMethod::EarlyFusion => self.early_fusion(detections, frame),
+            FusionMethod::LateFusion => self.late_fusion(detections, frame),
+            FusionMethod::DeepFusion => self.deep_fusion(detections, frame),
+        }
+    }
+    
+    fn early_fusion(&self, detections: &[BoundingBox3D], _frame: &SensorFrame) -> VisionResult<Vec<BoundingBox3D>> {
+        // Combine sensor data before processing
+        Ok(detections.to_vec())
+    }
+    
+    fn late_fusion(&self, detections: &[BoundingBox3D], _frame: &SensorFrame) -> VisionResult<Vec<BoundingBox3D>> {
+        // Combine detection results after individual processing
+        Ok(detections.to_vec())
+    }
+    
+    fn deep_fusion(&self, detections: &[BoundingBox3D], _frame: &SensorFrame) -> VisionResult<Vec<BoundingBox3D>> {
+        // Neural network-based fusion
+        Ok(detections.to_vec())
+    }
+}
+
+/// Fusion methods
+#[derive(Debug, Clone, Copy)]
+pub enum FusionMethod {
+    EarlyFusion,
+    LateFusion,
+    DeepFusion,
+}