Advanced search
1 file | 1.40 MB Add to list

Tracking Road Users by Cooperative Fusion of Radar and Camera Sensors

Martin Dimitrievski (UGent) , David Van Hamme (UGent) , Lennert Jacobs (UGent) , Peter Veelaert (UGent) , Heidi Steendam (UGent) and Wilfried Philips (UGent)
Author
Organization
Abstract
In this paper, we present the results and the lessons learned during development of an intelligent automotive perception system based on fusion of camera and radar. Our cooperative sensor fusion approach closely couples the detector and tracker, which allows to exploit the benefits of low-level fusion of the rich sensor data without the need for high data bandwidth to the fusion center. To demonstrate the accuracy of our perception system, we captured a dataset consisting of various complex traffic scenarios in a European city center. For multiple targets up to 10 m in front of the ego-vehicle, we measure accuracy improvements of 20% over the camera-only system, with only a fractional load to the network compared to low-level fusion.
Keywords
tracking, sensor fusion, radar, autonomous vehicles

Downloads

  • 1570592698.pdf
    • full text
    • |
    • open access
    • |
    • PDF
    • |
    • 1.40 MB

Citation

Please use this url to cite or link to this publication:

MLA
Dimitrievski, Martin, et al. “Tracking Road Users by Cooperative Fusion of Radar and Camera Sensors.” 26TH SYMPOSIUM ON COMMUNICATIONS AND VEHICULAR TECHNOLOGY IN THE BENELUX SCVT 2019, IEEE Benelux Joint Chapter on Communications and Vehicular Technology, 2019.
APA
Dimitrievski, M., Van Hamme, D., Jacobs, L., Veelaert, P., Steendam, H., & Philips, W. (2019). Tracking Road Users by Cooperative Fusion of Radar and Camera Sensors. In 26TH SYMPOSIUM ON COMMUNICATIONS AND VEHICULAR TECHNOLOGY IN THE BENELUX SCVT 2019. Noordwijk, The Netherlands: IEEE Benelux Joint Chapter on Communications and Vehicular Technology.
Chicago author-date
Dimitrievski, Martin, David Van Hamme, Lennert Jacobs, Peter Veelaert, Heidi Steendam, and Wilfried Philips. 2019. “Tracking Road Users by Cooperative Fusion of Radar and Camera Sensors.” In 26TH SYMPOSIUM ON COMMUNICATIONS AND VEHICULAR TECHNOLOGY IN THE BENELUX SCVT 2019. IEEE Benelux Joint Chapter on Communications and Vehicular Technology.
Chicago author-date (all authors)
Dimitrievski, Martin, David Van Hamme, Lennert Jacobs, Peter Veelaert, Heidi Steendam, and Wilfried Philips. 2019. “Tracking Road Users by Cooperative Fusion of Radar and Camera Sensors.” In 26TH SYMPOSIUM ON COMMUNICATIONS AND VEHICULAR TECHNOLOGY IN THE BENELUX SCVT 2019. IEEE Benelux Joint Chapter on Communications and Vehicular Technology.
Vancouver
1.
Dimitrievski M, Van Hamme D, Jacobs L, Veelaert P, Steendam H, Philips W. Tracking Road Users by Cooperative Fusion of Radar and Camera Sensors. In: 26TH SYMPOSIUM ON COMMUNICATIONS AND VEHICULAR TECHNOLOGY IN THE BENELUX SCVT 2019. IEEE Benelux Joint Chapter on Communications and Vehicular Technology; 2019.
IEEE
[1]
M. Dimitrievski, D. Van Hamme, L. Jacobs, P. Veelaert, H. Steendam, and W. Philips, “Tracking Road Users by Cooperative Fusion of Radar and Camera Sensors,” in 26TH SYMPOSIUM ON COMMUNICATIONS AND VEHICULAR TECHNOLOGY IN THE BENELUX SCVT 2019, Noordwijk, The Netherlands, 2019.
@inproceedings{8635644,
  abstract     = {In this paper, we present the results and the lessons
learned during development of an intelligent automotive perception system based on fusion of camera and radar. Our cooperative
sensor fusion approach closely couples the detector and tracker,
which allows to exploit the benefits of low-level fusion of the rich
sensor data without the need for high data bandwidth to the
fusion center. To demonstrate the accuracy of our perception
system, we captured a dataset consisting of various complex
traffic scenarios in a European city center. For multiple targets
up to 10 m in front of the ego-vehicle, we measure accuracy
improvements of 20% over the camera-only system, with only a
fractional load to the network compared to low-level fusion.},
  author       = {Dimitrievski, Martin and Van Hamme, David and Jacobs, Lennert and Veelaert, Peter and Steendam, Heidi and Philips, Wilfried},
  booktitle    = {26TH SYMPOSIUM ON COMMUNICATIONS AND VEHICULAR TECHNOLOGY IN THE BENELUX SCVT 2019},
  keywords     = {tracking,sensor fusion,radar,autonomous vehicles},
  language     = {eng},
  location     = {Noordwijk, The Netherlands},
  publisher    = {IEEE Benelux Joint Chapter on Communications and Vehicular Technology},
  title        = {Tracking Road Users by Cooperative Fusion of Radar and Camera Sensors},
  year         = {2019},
}