In this contribution the authors present a probabilistic fusion framework using the Joint Integrated Probabilistic Data Association (JIPDA) algorithm for the sensor independent measurement fusion. The application of the framework in an automotive multi-target multi-sensor environment by fusing laser scanner and video will be shown. The existing JIPDA algorithm was extended to allow for the association of multiple measurements to the same object, which reduces the effects of splitted segments in the data preprocessing step of high-resolution sensors like laser scanners. Extensions are shown to speed up the JIPDA algorithm which lead to real-time performance with fragmented data. The algorithms were evaluated using real-world data in a research vehicle.
A probabilistic sensor-independent fusion framework for automotive driver assistance systems
Eine wahrscheinlichkeitsgestütze, von Sensoren unabhängige Sensorfusionsplattform für Fahrerassistenzsysteme
2009
6 Seiten, 5 Bilder, 8 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
A probabilistic sensor-independent fusion framework for automotive driver assistance systems
Kraftfahrwesen | 2009
|Sensor Fusion for Driver-Assistance-Systems
British Library Conference Proceedings | 2001
|Automotive driver assistance systems
Kraftfahrwesen | 2010
|