Experiments in Vision-Laser Fusion Using the Bayesian Occupancy Filter

  • John-David Yoder
  • Mathias Perrollaz
  • Igor E. Paromtchik
  • Yong Mao
  • Christian Laugier
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 79)


Occupancy Grids have been used to represent the environment for some time. More recently, the Bayesian Occupancy Filter (BOF), which provides both an estimate of likelihood of occupancy of each cell, AND a probabilistic estimate of the velocity of each cell in the grid, has been introduced and patented. This work presents the first experiments in the use of the BOF to fuse data obtained from stereo vision and multiple laser sensors, on an intelligent vehicle platform. The paper describes the experimental platform, the approach to sensor fusion, and shows results from data captured in real traffic situations.


Visual Sensor Stereo Vision Sensor Fusion Stereo Camera Laser Sensor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag GmbH Berlin Heidelberg 2014

Authors and Affiliations

  • John-David Yoder
    • 1
  • Mathias Perrollaz
    • 2
  • Igor E. Paromtchik
    • 2
  • Yong Mao
    • 2
  • Christian Laugier
    • 2
  1. 1.Ohio Northern UniversityAdaUSA
  2. 2.INRIA Grenoble Rhône-AlpesSaint IsmierFrance

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