based localization and local mapping with moving object detection and tracking. HAL is a multidisciplinary open access archive for the deposit and dissemination of scientific research documents, whether they are published or not. The documents may come from teaching and research institutions in France or abroad, or from public or private research centers.… (More)
— Using multiple sensors in the context of environment perception for autonomous vehicles is quite common these days. Perceived data from these sensors can be fused at different levels like: before object detection, after object detection and finally after tracking the moving objects. In this paper we detail our object detection level fusion between laser… (More)
— We present a method of simultaneous detection and tracking moving objects from a moving vehicle equipped with a single layer laser scanner. A model-based approach is introduced to interpret the laser measurement sequence by hypotheses of moving object trajectories over a sliding window of time. Knowledge of various aspects including object model,… (More)
— In this paper, we describe our approach for intersection safety developed in the scope of the European project INTERSAFE-2. A complete solution for the safety problem including the tasks of perception and risk assessment using on-board lidar and stereo-vision sensors will be presented and interesting results are shown.
—In this paper, we detail a complete software architecture of a key task that an intelligent vehicle has to deal with: frontal object perception. This task is solved by processing raw data of a radar and a mono-camera to detect and track moving objects. Data sets obtained from highways, country roads and urban areas were used to test the proposed method.… (More)
—We describe a general architecture of vehicle perception system developed in the framework of the European project PReVENT-ProFusion 1. Our system consists of two main parts: the first part where the vehicle environment is mapped and moving objects are detected; and the second part where previously detected moving objects are verified and tracked. In this… (More)