상세정보
학술대회
Fusion of Multiple 2D LiDAR and RADAR for Object Detection and Tracking in All Directions
- 발행일
- 201411
- 출처
- International Conference on Connected Vehicles and Expo (ICCVE) 2014, pp.1058-1059
- 협약과제
- 14MC1300, ICT기반 차량/운전자 협력자율주행 시스템(Co-Pilot)의 판단/제어 기술 개발, 한우용
- 초록
- For autonomous vehicle and ADAS(Advanced Driver Assistance System), it is essential to detect and to track objects within a certain area in realtime. This paper presents the 2D tracker that fuses with four 2D LiDARs and one RADAR. It independently detects objects according to the type of sensors and represents these in the same space. It continuously associates measurements of the same object and tracks these with KF(Kalman Filter) for prediction and JPDAF(Joint Probabilistic Data Association Filter) for update. The result of our multi-sensor fusion tracker is demonstrated with a visualization tool.
- KSP 제안 키워드
- 2D LiDAR, Advanced driver assistance systems(ADAS), Autonomous vehicle, Joint probabilistic data association(JPDA), Object Detection and Tracking, joint probabilistic data association filter, kalman filter, multi-sensor fusion, visualization tool