首页|Disparity estimation for multi-scale multi-sensor fusion

Disparity estimation for multi-scale multi-sensor fusion

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  • NETL
  • NSTL
  • 万方数据
  • 维普
The perception module of advanced driver assis-tance systems plays a vital role.Perception schemes often use a single sensor for data processing and environmental perception or adopt the information processing results of various sensors for the fusion of the detection layer.This paper proposes a multi-scale and multi-sensor data fusion strategy in the front end of perception and accomplishes a multi-sensor function disparity map generation scheme.A binocular stereo vision sensor com-posed of two cameras and a light deterction and ranging(LiDAR)sensor is used to jointly perceive the environment,and a multi-scale fusion scheme is employed to improve the accuracy of the disparity map.This solution not only has the advantages of dense perception of binocular stereo vision sensors but also considers the perception accuracy of LiDAR sensors.Experi-ments demonstrate that the multi-scale multi-sensor scheme proposed in this paper significantly improves disparity map esti-mation.

stereo visionlight deterction and ranging(LiDAR)multi-sensor fusionmulti-scale fusiondisparity map

SUN Guoliang、PEI Shanshan、LONG Qian、ZHENG Sifa、YANG Rui

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Suzhou Automotive Research Institute,Tsinghua University,Suzhou 215000,China

Beijing Smarter Eye Technology Co.,Ltd.,Beijing 100023,China

College of Artifical Intelligence,Tianjin University of Science and Technology,Tianjin 300457,China

State Key Laboratory of Automotive Safety and Energy,Tsinghua University,Beijing 100084,China

Department of Precision Instrument,Tsinghua University,Beijing 100084,China

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国家重点研发计划

2018AAA0103103

2024

10.23919/JSEE.2023.000101

系统工程与电子技术(英文版)
中国航天科工防御技术研究院 中国宇航学会 中国系统工程学会 中国系统仿真学会

系统工程与电子技术(英文版)

CSTPCD
影响因子：0.64
ISSN：1004-4132
年,卷(期)：2024.35(2)
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