Cooperative Fusion for Multi-Obstacles Detection With Use of Stereovision and Laser Scanner

@article{Labayrade2005CooperativeFF,
  title={Cooperative Fusion for Multi-Obstacles Detection With Use of Stereovision and Laser Scanner},
  author={Rapha{\"e}l Labayrade and Cyril Roy{\`e}re and Dominique Gruyer and Didier Aubert},
  journal={Auton. Robots},
  year={2005},
  volume={19},
  pages={117-140}
}
We propose a new cooperative fusion approach between stereovision and laser scanner in order to take advantage of the best features and cope with the drawbacks 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… CONTINUE READING
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