REDUNDANT ENVIRONMENT PERCEPTION TRACKING FOR AUTOMATED DRIVING SYSTEMS

Redundant environment perception tracking for automated driving systems. One example embodiment provides a surveillance system, the system including a plurality of sensors, a memory, and an electronic processor. The electronic processor is configured to receive, from the plurality of sensors, environmental information of a common field of view, generate, based on the environmental information, a plurality of hypotheses regarding an object within the common field of view, the plurality of hypotheses including at least one set of hypotheses excluding the environmental information from at least one sensor of a first sensor type, determine, based on a subset of the plurality of hypotheses, an object state of the object, wherein the subset includes the at least one set of hypotheses excluding the environmental information from the at least one sensor of the first sensor type, and track the object based on the object state that is determined.