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OBJECT_TRACKING_MULTI_SENSOR_FUSION

Sensor Fusion for Target Tracking

0. Introduction :-

We have an array of sensors installed around the ego vehicle for ADAS/AD applications. The goal of this project is to estimate Valid Object Tracks by fusing the measurements from the sensors.

Fig 1 : (Inputs) Measurements : Radar Reflection, Camera Detections, Lane Line Clothoid Parameters

1. Estimation Output :-

1.1 Object Tracks :-



1.2 Object Tracks + Object Trajectories:-



1.3 Object Tracks + Object Trajectories + Road Model:-



1.4 Object Tracks + Object Trajectories + Road Model + Mapping:-



2. Fusion Architecture Overview :-


3. High Level Fusion Architecture:-



4. Module Level Fusion Architecture:-

4.1 Preprocessing Subsystem:-



4.2 Radar Fusion Subsystem :-



4.3 Camera Fusion Subsystem :-



4.4 Radar & Camera Fusion Subsystem :-