In cooperative perception systems, different vehicles share object data obtained by their local environment perception sensors, like radar or lidar, via wireless communication. Inaccurate self-localizations of the vehicles complicate association of locally perceived objects and objects detected and transmitted by other vehicles. In this paper, a method for inter-vehicle object association is presented. Position and orientation offsets between object lists from different vehicles are estimated by applying point matching algorithms. Different algorithms are analyzed in simulations concerning their robustness and performance. Results with a first implementation of the so-called Auction-ICP algorithm in a real test vehicle validate the simulation results.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Inter-vehicle object association for cooperative perception systems


    Contributors:


    Publication date :

    2013-10-01


    Size :

    251254 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    DETC2019-98001 Data Association and Fusion Framework for Decentralized Multi-Vehicle Cooperative Perception

    Yoon, DoHyun Daniel / Ali, G. G. Nawaz / Aylew, Beshah | British Library Conference Proceedings | 2019


    Object Perception Method For Vehicle And Object Perception Apparatus

    RA JU HYEOK / KIM HYUN JU | European Patent Office | 2024

    Free access

    Cooperative Perception System And Cooperative Perception Method

    LEE JUN HYUNG / KIM HYOUNG SOO / YANG IN CHUL | European Patent Office | 2024

    Free access

    Vehicle Autonomy Using Cooperative Perception for Mobility-on-Demand Systems

    Kim, Seong-Woo / Bandyopadhyay, Tirthankar / Qin, Baoxing et al. | Tema Archive | 2015


    Enhanced Environmental Perception by Inter-Vehicle Data Exchange

    Tischler, K. / Hummel, B. / Institute of Electrical and Electronics Engineers | British Library Conference Proceedings | 2005