Cooperative fusion for multi-obstacles detection with use of stereovision and laser scanner
LABAYRADE ; ROYERE ; GRUYER ; AUBERT
Type de document
COMMUNICATION AVEC ACTES INTERNATIONAL (ACTI)
Langue
anglais
Auteur
LABAYRADE ; ROYERE ; GRUYER ; AUBERT
Résumé / Abstract
The authors propose in this paper a new cooperative fusion approach between stereovision and laser scanner in order to take advantage of the best features 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. Results of experiments in real driving situations (multi-pedestrians and multi-vehicles detection) are presented and stress the benefits of the authors' approach.
