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Vehicle environment detection by a combined low and mid level fusion of a laser scanner and stereo vision

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2 Author(s)
Haberjahn, M. ; Inst. of Transp. Syst., German Aerosp. Center, Berlin, Germany ; Junghans, M.

A sensor system consisting of a multi layer laser scanner and a stereo camera is used to observe the surrounding environment of a vehicle. By a novel multi level fusion framework the heterogeneous sensor data can be merged on different processing levels. The following paper gives a short introduction to the processing steps of the sensor data and focuses on the lower raw level and middle object level fusion. Here, the low level fusion obtains a more precise object discrimination, whereas the mid level fusion is able to solve conflicting sensor statements with competing object information. A combination of both, obviously results in a more accurate environmental description. The effectiveness of both fusion approaches is tested and compared with real road reference data, obtained from highly precise GPS data.

Published in:

Intelligent Transportation Systems (ITSC), 2011 14th International IEEE Conference on

Date of Conference:

5-7 Oct. 2011

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