Radar and Camera Data Association Algorithm for Sensor Fusion

Yohei OISHI  Isamu MATSUNAMI  

Publication
IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences   Vol.E100-A   No.2   pp.510-514
Publication Date: 2017/02/01
Online ISSN: 1745-1337
DOI: 10.1587/transfun.E100.A.510
Type of Manuscript: Special Section LETTER (Special Section on Intelligent Transport Systems)
Category: 
Keyword: 
ADAS,  ROS,  radar,  sensor fusion,  UWB,  

Full Text: PDF>>
Buy this Article



Summary: 
This paper presents a method to accelerate target recognition processing in advanced driver assistance systems (ADAS). A histogram of oriented gradients (HOG) is an effective descriptor for object recognition in computer vision and image processing. The HOG is expected to replace conventional descriptors, e.g., template-matching, in ADAS. However, the HOG does not consider the occurrences of gradient orientation on objects when localized portions of an image, i.e., a region of interest (ROI), are not set precisely. The size and position of the ROI should be set precisely for each frame in an automotive environment where the target distance changes dynamically. We use radar to determine the size and position of the ROI in a HOG and propose a radar and camera sensor fusion algorithm. Experimental results are discussed.