Autonomous Robots

, Volume 19, Issue 2, pp 117–140

Cooperative Fusion for Multi-Obstacles Detection With Use of Stereovision and Laser Scanner

  • Raphaël Labayrade
  • Cyril Royere
  • Dominique Gruyer
  • Didier Aubert
Article

DOI: 10.1007/s10514-005-0611-7

Cite this article as:
Labayrade, R., Royere, C., Gruyer, D. et al. Auton Robot (2005) 19: 117. doi:10.1007/s10514-005-0611-7

Abstract

We propose a new cooperative fusion approach between stereovision and laser scanner in order to take advantage of the best features and cope with the drawbacks of these two sensors to perform robust, accurate and real time-detection of multi-obstacles in the automotive context. The proposed system is able to estimate the position and the height, width and depth of generic obstacles at video frame rate (25 frames per second). The vehicle pitch, estimated by stereovision, is used to filter laser scanner raw data. Objects out of the road are removed using road lane information computed by stereovision. Various fusion schemes are proposed and one is experimented. Results of experiments in real driving situations (multi-pedestrians and multi-vehicles detection) are presented and stress the benefits of our approach.

Keywords

multi-obstacles detection cooperative fusion stereovision laser scanner real time performance imperfect data management 

Copyright information

© Springer Science + Business Media, Inc. 2005

Authors and Affiliations

  • Raphaël Labayrade
    • 1
  • Cyril Royere
    • 1
  • Dominique Gruyer
    • 1
  • Didier Aubert
    • 1
  1. 1.LIVIC (INRETS/LCPC)Laboratoire sur les Interactions Véhicules, InfrastructureVersaillesFrance

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