TY - JOUR
T1 - An open multi-sensor fusion toolbox for autonomous vehicles
AU - Monrroy Cano, Abraham
AU - Takeuchi, Eijiro
AU - Kato, Shinpei
AU - Edahiro, Masato
PY - 2020
Y1 - 2020
N2 - We present an accurate and easy-to-use multi-sensor fusion toolbox for autonomous vehicles. It includes a ‘target-less’ multi-LiDAR (Light Detection and Ranging), and Camera-LiDAR calibration, sensor fusion, and a fast and accurate point cloud ground classifier. Our calibration methods do not require complex setup procedures, and once the sensors are calibrated, our framework eases the fusion of multiple point clouds, and cameras. In addition we present an original real-time ground-obstacle classifier, which runs on the CPU, and is designed to be used with any type and number of LiDARs. Evaluation results on the KITTI dataset confirm that our calibration method has comparable accuracy with other state-of-the-art contenders in the benchmark.
AB - We present an accurate and easy-to-use multi-sensor fusion toolbox for autonomous vehicles. It includes a ‘target-less’ multi-LiDAR (Light Detection and Ranging), and Camera-LiDAR calibration, sensor fusion, and a fast and accurate point cloud ground classifier. Our calibration methods do not require complex setup procedures, and once the sensors are calibrated, our framework eases the fusion of multiple point clouds, and cameras. In addition we present an original real-time ground-obstacle classifier, which runs on the CPU, and is designed to be used with any type and number of LiDARs. Evaluation results on the KITTI dataset confirm that our calibration method has comparable accuracy with other state-of-the-art contenders in the benchmark.
KW - Autonomous driving
KW - Calibration
KW - Cameras
KW - Ground detection
KW - LiDAR
KW - Sensor fusion
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U2 - 10.1587/transfun.2019TSP0005
DO - 10.1587/transfun.2019TSP0005
M3 - Article
AN - SCOPUS:85077451414
SN - 0916-8508
VL - E103A
SP - 252
EP - 264
JO - IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences
JF - IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences
IS - 1
ER -