Sensor Fusion and Compensation Algorithm for Vehicle Tracking with Front Camera and Corner Radar Sensors

Yoon Suk Jang, Sang Kyoo Park, Myo Taeg Lim

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)

    Abstract

    Autonomous vehicle encounters numerous difficulties which need to be solved. Precise detection and perception of surrounding obstacles are the first step required to overcome the problems. Therefore, it is important to properly fuse the sensor data. In this paper, one front camera and four corner radars are used to percept the surrounding obstacles. Two algorithms are introduced; a sensor fusion algorithm and a compensating algorithm which improve the performance of the sensor fusion algorithm. Nearest neighbor (NN) algorithm and linear Kalman filter are used for data association and tracking respectively. Moreover, the obstacles' boundary information which is given by camera and radars is used to estimate the free space. By applying Occupancy Grid Map (OGM) with boundary information, previous fused data can be compensated.

    Original languageEnglish
    Title of host publicationICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings
    PublisherIEEE Computer Society
    Pages575-578
    Number of pages4
    ISBN (Electronic)9788993215182
    DOIs
    Publication statusPublished - 2019 Oct
    Event19th International Conference on Control, Automation and Systems, ICCAS 2019 - Jeju, Korea, Republic of
    Duration: 2019 Oct 152019 Oct 18

    Publication series

    NameInternational Conference on Control, Automation and Systems
    Volume2019-October
    ISSN (Print)1598-7833

    Conference

    Conference19th International Conference on Control, Automation and Systems, ICCAS 2019
    Country/TerritoryKorea, Republic of
    CityJeju
    Period19/10/1519/10/18

    Bibliographical note

    Publisher Copyright:
    © 2019 Institute of Control, Robotics and Systems - ICROS.

    Keywords

    • Autonomous Vehicle
    • Occupancy Grid Map
    • Sensor Fusion

    ASJC Scopus subject areas

    • Artificial Intelligence
    • Computer Science Applications
    • Control and Systems Engineering
    • Electrical and Electronic Engineering

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