Sensor and navigation data fusion for an autonomous vehicle

Author

Becker, Jan C. ; Simon, Andreas

Author_Institution

Inst. of Control Eng., Tech. Univ. Braunschweig, Germany

fYear

2000

fDate

2000

Firstpage

156

Lastpage

161

Abstract

Describes an approach for different data fusion tasks in an autonomous vehicle. One fusion system is designed for the fusion of data from the object-detecting sensors of the vehicle in order to increase the accuracy and to reduce the large amount of sensor data. Another system is concerned with the fusion of navigation data to obtain accurate information on the vehicle state. It is based on information provided by the ego-position sensors of the vehicle as well as on the object-detecting sensors. The output of both fusion systems is used by the vehicle guidance system to determine the desired path of motion for the autonomous vehicle

Keywords

Kalman filters; image sensors; navigation; object detection; optical scanners; path planning; radar; road vehicles; robots; sensor fusion; state estimation; stereo image processing; velocity control; autonomous vehicle; data fusion; ego-position sensors; navigation data; object-detecting sensors; sensor data; vehicle guidance system; Control systems; Laser radar; Mobile robots; Navigation; Remotely operated vehicles; Road vehicles; Sensor fusion; Sensor systems; Stereo vision; Vehicle driving;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2000. IV 2000. Proceedings of the IEEE

Conference_Location

Dearborn, MI

Print_ISBN

0-7803-6363-9

Type

conf

DOI

10.1109/IVS.2000.898335

Filename

898335