A new cooperative fusion approach is recommended between stereovision and laser scanner in order to take advantage of the best features and cope with the drawbacks of these two sensors to perform robust, accurate and real time-detection of multi-obstacles in the automotive context. The proposed system is able to estimate the position and the height, width and depth of generic obstacles at video frame rate (25 frames per second). The vehicle pitch, estimated by stereovision, is used to filter laser scanner raw data. Objects out of the road are removed using road lane information computed by stereovision. Various fusion schemes are proposed and one is experimented. Results of experiments in real driving situations (multi-pedestrians and multi-vehicles detection) are presented and stress the benefits of the approach.


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    Title :

    Cooperative fusion for multi-obstacles detection with use of stereovision and laser scanner


    Additional title:

    Kooperatives Fusionsverfahren für die Erkennung von mehrfachen Hindernissen unter Verwendung von Stereovision und Laserabtastung


    Contributors:

    Published in:

    Autonomous Robots ; 19 , 2 ; 117-140


    Publication date :

    2005


    Size :

    24 Seiten, 23 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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    Labayrade, R. l. / Royere, C. / Gruyer, D. et al. | British Library Online Contents | 2005


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    Labayrade,R. / Aubert,D. / LIVIC,FR | Automotive engineering | 2006


    Long Range Obstacle Detection Using Laser Scanner and Stereovision

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    Long Range Obstacle Detection Using Laser Scanner and Stereovision

    Perrollaz, M. / Labayrade, R. / Royere, C. et al. | British Library Conference Proceedings | 2006