NDLI: Simultaneous registration and fusion of multiple dissimilar sensors for cooperative driving

Content Provider	IEEE Xplore Digital Library
Author	Li, W. Henry Leung
Copyright Year	2000
Abstract	The fusion of multiple sensory information plays a key role in cooperative driving for flexible platooning of automated vehicles over a couple of lanes within a short intervehicle distance. In this paper, the problem of online sensor fusion with spatially and temporally misaligned dissimilar sensors is considered. A spatial-temporal registration model for the popular intelligent vehicular sensors including radar, global positioning system, inertial navigation system, and camera is first developed for sensor alignment. An unscented Kalman filter (UKF) is proposed here to fuse and register these sensors that are installed on a platoon of vehicles simultaneously. When the road geometry information is available from a digital map database, a constrained UKF is further developed to improve the fusion accuracy. The effect of spatial-temporal sensor misalignment upon the vehicle-state estimation is also analyzed theoretically. Simulations show that the proposed UKF method not only can align the dissimilar vehicular sensors properly with both spatial and temporal biases, but can also obtain accurate fused tracks of vehicles in a platoon.
Sponsorship	IEEE Intelligent Transportation Systems Society
Starting Page	84
Ending Page	98
Page Count	15
File Size	1016272
File Format	PDF
ISSN	15249050
Volume Number	5
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-06-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Sensor fusion Intelligent sensors Sensor systems Vehicle driving Intelligent vehicles Radar Inertial navigation Smart cameras Fuses Roads
Content Type	Text
Resource Type	Article
Subject	Automotive Engineering Mechanical Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

An expectation-maximization-based interacting multiple model approach for cooperative driving systems

Multiple Sensor Fusion and Classification for Moving Object Detection and Tracking

Real-Time Computer Vision/DGPS-Aided Inertial Navigation System for Lane-Level Vehicle Navigation

Lateral Vehicle State and Environment Estimation Using Temporally Previewed Mapped Lane Features

Model-based scene tracking using radar sensors for intelligent automotive vehicle systems

Introduction to the Special Section on IV'08

A Hybrid Method in Driver and Multisensor Data Fusion, Using a Fuzzy Logic Supervisor for Vehicle Intelligence

Functional requirements of future automotive radar systems

The sensor fusion of gyro controller system for the smart vehicle

Simultaneous registration and fusion of multiple dissimilar sensors for cooperative driving

Similar Documents

An expectation-maximization-based interacting multiple model approach for cooperative driving systems

Multiple Sensor Fusion and Classification for Moving Object Detection and Tracking

Real-Time Computer Vision/DGPS-Aided Inertial Navigation System for Lane-Level Vehicle Navigation

Lateral Vehicle State and Environment Estimation Using Temporally Previewed Mapped Lane Features

Model-based scene tracking using radar sensors for intelligent automotive vehicle systems

Introduction to the Special Section on IV'08

A Hybrid Method in Driver and Multisensor Data Fusion, Using a Fuzzy Logic Supervisor for Vehicle Intelligence

Functional requirements of future automotive radar systems

The sensor fusion of gyro controller system for the smart vehicle

Simultaneous registration and fusion of multiple dissimilar sensors for cooperative driving