Multi-Sensor Data Fusion for Robust Environment Reconstruction in Autonomous Vehicle Applications.

摘要

In autonomous vehicle systems, understanding the surrounding environment is mandatory for an intelligent vehicle to make every decision of movement on the road. Knowledge about the neighboring environment enables the vehicle to detect moving objects, especially irregular events such as jaywalking, sudden lane change of the vehicle etc. to avoid collision. This local situation awareness mostly depends on the advanced sensors (e.g. camera, LIDAR, RADAR) added to the vehicle. The main focus of this work is to formulate a problem of reconstructing the vehicle environment using point cloud data from the LIDAR and RGB color images from the camera. Based on a widely used point cloud registration tool such as iterated closest point (ICP), an expectation-maximization (EM)-ICP technique has been proposed to automatically mosaic multiple point cloud sets into a larger one. Motion trajectories of the moving objects are analyzed to address the issue of irregularity detection. Another contribution of this work is the utilization of fusion of color information (from RGB color images captured by the camera) with the three-dimensional point cloud data for better representation of the environment. For better understanding of the surrounding environment, histogram of oriented gradient (HOG) based techniques are exploited to detect pedestrians and vehicles.;Using both camera and LIDAR, an autonomous vehicle can gather information and reconstruct the map of the surrounding environment up to a certain distance. Capability of communicating and cooperating among vehicles can improve the automated driving decisions by providing extended and more precise view of the surroundings. In this work, a transmission power control algorithm is studied along with the adaptive content control algorithm to achieve a more accurate map of the vehicle environment. To exchange the local sensor data among the vehicles, an adaptive communication scheme is proposed that controls the lengths and the contents of the messages depending on the load of the communication channel. The exchange of this information can extend the tracking region of a vehicle beyond the area sensed by its own sensors. In this experiment, a combined effect of power control, and message length and content control algorithm is exploited to improve the map's accuracy of the surroundings in a cooperative automated vehicle system.