FUSION OF OBSTACLE DETECTION USING RADAR AND CAMERA

摘要

A vehicle obstacle detection system includes an imaging system for capturing objects in a field of view and a radar device for sensing objects in a substantially same field of view. The substantially same field of view is partitioned into an occupancy grid having a plurality of observation cells. A fusion module receives radar data from the radar device and imaging data from the imaging system. The fusion module projects the occupancy grid and associated radar data onto the captured image. The fusion module extracts features from each corresponding cell using sensor data from the radar device and imaging data from the imaging system. A primary classifier determines whether an extracted feature extracted from a respective observation cell is an obstacle.