Data fusion in multi sensor platforms for wide-area perception
Aris Polychronopoulos, Member IEEE, Nikos Floudas, Angelos Amditis, Member IEEE, Dirk Bank, Bas van den Broek
IV'06 IEEE Intelligent Vehicles symposium
13 - 16 June 2006
There is a strong belief that the improvement of preventive safety applications and the extension of their operative range will be achieved by the deployment of multiple sensors with wide fields of view (FOV). The paper contributes to the solution of the problem and introduces distributed sensor data fusion architectures- and algorithms for an efficient deployment of multiple sensors that give redundant or complementary information for the moving objects. The proposed fusion architecture is based on a modular approach allowing exchangeability and benchmarking using the output of individual trackers, whereas the fusion algorithm gives a solution to the track management problem and the coverage of wide perception areas. The test case is LATERAL SAFE sensor configuration, which monitors the rear and lateral areas of the vehicle. Results show that with the given approach the system is able to maintain the ID of all objects in transition (an object enters a sensor’s FOV) and blind areas (no sensor coverage).