Multisensor obstacle detection and tracking

摘要

This submission is concerned with obstacle detection and tracking for an autonomous, unsupervised vehicle. A multisensor concept is proposed yielding a high level of reliability and security. It includes a variety of different sensor technologies with widely overlapping fields of view between the individual sensors. The major sensors for obstacle detection comprise a self-assessing vision sensor directed forwards and a laser scanner system surveying 360° around the vehicle. Preliminary results indicate the high reliability of the sensor system.