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Download fileFusion of LiDAR and camera sensor data for environment sensing in driverless vehicles
preprint
posted on 2018-05-29, 11:37 authored by Varuna De Silva, Jamie Roche, Ahmet KondozDriverless vehicles operate by sensing and perceiving its surrounding environment to make the accurate driving decisions. A combination of several different sensors such as LiDAR, radar, ultrasound sensors and cameras are utilized to sense the surrounding environment of driverless vehicles. The heterogeneous sensors simultaneously capture various physical attributes of the environment. Such multimodality and redundancy of sensing need to be positively utilized for reliable and consistent perception of the environment through sensor data fusion. However, these multimodal sensor data streams are different from each other in many ways, such as temporal and spatial resolution, data format, and geometric alignment. For the subsequent perception algorithms to utilize the diversity offered by multimodal sensing, the data streams need to be spatially, geometrically and temporally aligned with each other. In this paper, we address the problem of fusing the outputs of a Light Detection and Ranging (LiDAR) scanner and a wide-angle monocular image sensor. The outputs of LiDAR scanner and the image sensor are of different spatial resolutions and need to be aligned with each other. A geometrical model is used to spatially align the two sensor outputs, followed by a Gaussian Process (GP) regression based resolution matching algorithm to interpolate the missing data with quantifiable uncertainty. The results indicate that the proposed sensor data fusion framework significantly aids the subsequent perception steps, as illustrated by the performance improvement of a typical free space detection algorithm.
History
School
- Loughborough University London
Published in
SensorsVolume
abs/1710.06230Citation
DE SILVA, V., ROCHE, J. and KONDOZ, A., 2018. Fusion of LiDAR and camera sensor data for environment sensing in driverless vehicles. arXiv:1710.06230v2Publisher
arXiv.orgVersion
- SMUR (Submitted Manuscript Under Review)
Publisher statement
This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/Publication date
2018Notes
This is an arXiv preprint. It can be found at: https://arxiv.org/abs/1710.06230v2Publisher version
Language
- en