Title :
Sensorfusion Using Spatio-Temporal Aligned Video and Lidar for Improved Vehicle Detection
Author :
Mählisch, Mirko ; Schweiger, Roland ; Ritter, Werner ; Dietmayer, Klaus
Author_Institution :
Dept. of Meas., Control & Microtechnol., Ulm Univ.
Abstract :
This contribution introduces a novel approach to cross-calibrate automotive vision and ranging sensors. The resulting sensor alignment allows the incorporation of multiple sensor data into a detection and tracking framework. Exemplarily, we show how a realtime vehicle detection system, intended for emergency breaking or ACC applications, benefits from the low level fusion of multibeam lidar and vision sensor measurements in discrimination performance and computational complexity
Keywords :
automotive electronics; computational complexity; image sensors; optical radar; optical tracking; road vehicle radar; road vehicles; sensor fusion; automotive vision cross-calibration; computational complexity; detection framework; emergency breaking; improved vehicle detection; multibeam lidar; multiple sensor data; ranging sensor; realtime vehicle detection system; sensor alignment; sensor fusion; spatio-temporal aligned video; tracking framework; vision sensor measurement; Automotive engineering; Decision making; Laser radar; Radar tracking; Sensor fusion; Sensor phenomena and characterization; Sensor systems; Sensor systems and applications; Vehicle detection; Velocity measurement;
Conference_Titel :
Intelligent Vehicles Symposium, 2006 IEEE
Conference_Location :
Tokyo
Print_ISBN :
4-901122-86-X
DOI :
10.1109/IVS.2006.1689665
