FUSION OF HETEROGENEOUS SENSORS FOR THE GUIDANCE OF AN AUTONOMOUS VEHICLE

This paper presents a sensor fusion system of an autonomous vehicle. The sensor system for object detection consists of a stereo vision sensor, four laser-scanners and a radar sensor. The sensor fusion system consists of data alignment, data association and a state estimation module. In order to fuse the associated targets from different sensors, an adaptive information filter is sued. The fused targets are then input into the path planning and guidance system generating collision-free vehicle motion.

Language

  • English

Media Info

  • Pagination: p. WED5/11-WED5/18

Subject/Index Terms

Filing Info

  • Accession Number: 00801368
  • Record Type: Publication
  • Source Agency: UC Berkeley Transportation Library
  • Files: PATH
  • Created Date: Nov 7 2000 12:00AM