Multisensor cooperation of assistance to driving

We will present in this article the principles of data-processing put into operation within the framework of a research project on the improvement of automobile safety. This project is based on the simultaneous use of two systems of exteroceptive perception: a system of omnidirectional vision with spherical reflector and a telemetric laser. We limit our study to the identification of objects discovered both in panoramic images and in clusters of points stemming from telemetric measures, and this obtained in outside motorway-type environment. After reiterating the mechanisms of creation of the omnidirectional images and clusters of points, we shall detail the various processes which we set up. Finally, we shall dedicate the last part to the experimental results.