Obstacle detection algorithms with dealing with vagueness of sensing signals

This paper presents the new method to deal with both range data and image data with data vagueness in sensor fusion process. Using laser range finder in this study, range data and image data are obtained. In our method, comparing range data and road model without any obstacles, the possibility index of obstacle existence is defined. Sensor fusion both range data and image data are carried out considering data vagueness. The method is tested by real data and evaluated.