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http://dx.doi.org/10.5302/J.ICROS.2009.15.4.390

Camera and LIDAR Combined System for On-Road Vehicle Detection  

Hwang, Jae-Pil (연세대학교 전기전자공학부)
Park, Seong-Keun (연세대학교 전기전자공학부)
Kim, Eun-Tai (연세대학교 전기전자공학부)
Kang, Hyung-Jin (주) 만도 중앙연구소)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.15, no.4, 2009 , pp. 390-395 More about this Journal
Abstract
In this paper, we design an on-road vehicle detection system based on the combination of a camera and a LIDAR system. In the proposed system, the candidate area is selected from the LIDAR data using a grouping algorithm. Then, the selected candidate area is scanned by an SVM to find an actual vehicle. The morphological edged images are used as features in a camera. The principal components of the edged images called eigencar are employed to train the SVM. We conducted experiments to show that the on-road vehicle detection system developed in this paper demonstrates about 80% accuracy and runs with 20 scans per second on LIDAR and 10 frames per second on camera.
Keywords
camera LIDAR fusion; sensor fusion; SVM; vehicle detection; computer vision;
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