OBJECT_TRACKING_MULTI_SENSOR_FUSION
OBJECT_TRACKING_MULTI_SENSOR_FUSION copied to clipboard
Sensor Fusion for Target Tracking
OBJECT_TRACKING_MULTI_SENSOR_FUSION
Sensor Fusion for Target Tracking
0. Introduction :-
We have an array of sensors installed around the ego vehicle for ADAS/AD applications. The goal of this project is to estimate Valid Object Tracks by fusing the measurements from the sensors.
Fig 1 : (Inputs) Measurements : Radar Reflection, Camera Detections, Lane Line Clothoid Parameters
1. Estimation Output :-
1.1 Object Tracks :-
1.2 Object Tracks + Object Trajectories:-
1.3 Object Tracks + Object Trajectories + Road Model:-
1.4 Object Tracks + Object Trajectories + Road Model + Mapping:-
2. Fusion Architecture Overview :-
3. High Level Fusion Architecture:-
4. Module Level Fusion Architecture:-
4.1 Preprocessing Subsystem:-
4.2 Radar Fusion Subsystem :-
4.3 Camera Fusion Subsystem :-