Using multiple sensors in the context of environment perception for autonomous vehicles is quite common these days. Perceived data from these sensors can be fused at different levels like: before object detection, after object detection and finally after tracking the moving objects. In this paper we detail our object detection level fusion between laser and stereo vision sensors as opposed to pre-detection or track level fusion. We use the output of our laser processing to get a list of objects with position and dynamic properties for each object. Similarly we use the stereo vision output of another team which consists of a list of detected objects with position and classification properties for each object. We use Bayesian fusion technique on objects of these two lists to get a new list of fused objects. This fused list of objects is further used in tracking phase to track moving objects in an intersection like scenario. The results obtained on data sets of INTERSAFE-2 demonstrator vehicle show that this fusion has improved data association and track management steps.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Fusion between laser and stereo vision data for moving objects tracking in intersection like scenario


    Beteiligte:
    Baig, Q. (Autor:in) / Aycard, O. (Autor:in) / Trung Dung Vu, (Autor:in) / Fraichard, T. (Autor:in)


    Erscheinungsdatum :

    01.06.2011


    Format / Umfang :

    1309880 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Fusion between Laser and Stereo Vision Data for Moving Objects Tracking in Intersection Like Scenario

    Baig, Q. / Aycard, O. / Vu, T.-D. et al. | British Library Conference Proceedings | 2011


    Dynamic stereo vision for intersection assistance

    Franke, Uwe / Rabe, Clemens / Gehrig, Stefan et al. | Tema Archiv | 2008


    Dynamic stereo vision for intersection assistance

    Franke,U. / Rabe,C. / Ghrig,S. et al. | Kraftfahrwesen | 2008


    Trajectory analysis of moving objects at intersection based on laser-data

    Jie Sha, / Yipu Zhao, / Wenda Xu, et al. | IEEE | 2011


    Intersection safety using lidar and stereo vision sensors

    Aycard, O. / Baig, Q. / Bota, S. et al. | IEEE | 2011