個別研究テーマ編集

三田誠一シニア研究スカラ
助教 ジョン ヴィジャイ コーネリウス キルバカラン

掲載年度

2019

個別研究テーマ
(日本語)

ステレオビジョンとレーザレーダのセンサ融合(Sensor Fusion of LIDAR and Stereo)

個別研究テーマ
(英語)

研究者 ジョン ヴィジャイ コーネリウス キルバカラン
研究概要

Perception of the environment is an important task for intelligent vehicles, and to effectively perceive the environment, multiple sensors are often employed. In this paper, we propose to integrate the perceived data from 3D LIDAR and stereo camera using particle swarm optimization algorithm, without the aid of any external calibration aids. The proposed optimisation algorithm automatically calibrates and registers the LIDAR range image and stereo depth image, as a precursor to the sensor fusion. Multiple parameters are optimised by adopting a model-based approach during the parameter estimation phase. The evaluation of the parameters is performed using a novel depth-based cost function. During the sensor fusion phase, the optimised parameters are used to generate the LIDAR range image, which functions as the disparity range image for the Viterbi-based stereo disparity estimation. The disparity range
image constrains the Viterbi search during the stereo disparity estimation.

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