Sensor fusion methodology for vehicle detection Articles uri icon

publication date

  • April 2017

start page

  • 123

end page

  • 133


  • 1


  • 9

International Standard Serial Number (ISSN)

  • 1941-1197

Electronic International Standard Serial Number (EISSN)

  • 1939-1390


  • novel sensor fusion methodology is presented, which provides intelligent vehicles with augmented environment information and knowledge, enabled by vision-based system, laser sensor and global positioning system. The presented approach achieves safer roads by data fusion techniques, especially in single-lane carriageways where casualties are higher than in other road classes, and focuses on the interplay between vehicle drivers and intelligent vehicles. The system is based on the reliability of laser scanner for obstacle detection, the use of camera based identification techniques and advanced tracking and data association algorithms i.e. Unscented Kalman Filter and Joint Probabilistic Data Association. The achieved results foster the implementation of the sensor fusion methodology in forthcoming Intelligent Transportation Systems.


  • Computer Science
  • Robotics and Industrial Informatics


  • pedestrian detection; detection system; laser scanner; vision; framework; lidar