Fusion of telemetric and visual data from road scenes with a lexus experimental platform

  • Paromtchik I
  • Perrollaz M
  • Laugier C
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Abstract

Fusion of telemetric and visual data from traffic scenes helps exploit synergies between different on-board sensors, which monitor the environment around the ego-vehicle. This paper outlines our approach to sensor data fusion, detection and tracking of objects in a dynamic environment. The approach uses a Bayesian Occupancy Filter to obtain a spatio-temporal grid representation of the traffic scene.We have implemented the approach on our experimental platform on a Lexus car. The data is obtained in traffic scenes typical of urban driving, with multiple road participants. The data fusion results in a model of the dynamic environment of the ego-vehicle. The model serves for the subsequent analysis and interpretation of the traffic scene to enable collision risk estimation for improving the safety of driving.

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Authors

  • Igor E. Paromtchik

  • Mathias Perrollaz

  • Christian Laugier

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