Sensor fusion in autonomous vehicle using LiDAR and camera Sensor

This paper presents a sensor fusion methodology for autonomous vehicles (AVs) using Light Detection and Ranging (LiDAR) and camera. Mostly sensors like camera or LiDAR is used only as the sensor for visual perception in AVs. But the hindrance comes during bad weather conditions, dim light or night time. To alleviate this problem, a method which combines both LiDAR and camera sensor using odometry is explored in this paper. The study also attempts to employ Extended Kalman Filter (EKF) to reduce error in position estimate of the vehicle.