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

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
CountryKorea, Republic of
CityJeju
Period19/10/1519/10/18

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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  • Cite this

    Jang, Y. S., Park, S. K., & Lim, M. T. (2019). Sensor Fusion and Compensation Algorithm for Vehicle Tracking with Front Camera and Corner Radar Sensors. In ICCAS 2019 - 2019 19th International Conference on Control, Automation and Systems, Proceedings (pp. 575-578). [8971685] (International Conference on Control, Automation and Systems; Vol. 2019-October). IEEE Computer Society. https://doi.org/10.23919/ICCAS47443.2019.8971685