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Real Time Lidar And Radar High-Level Fusion For Obstacle Detection And Tracking With Evaluation On A Ground Truth
Both Lidars and Radars are sensors for obstacle detection. While Lidars are very accurate on obstacles positions and less accurate on their velocities, Radars are more precise on obstacles velocities and less precise on their positions. Sensor fusion between Lidar and Radar aims at improving obstacle detection using advantages of the two sensors. The present paper proposes a real-time Lidar/Radar data fusion algorithm for obstacle detection and tracking based on the global nearest neighbourdoi:10.5281/zenodo.1474352 fatcat:pmndofjc2rhfhkdzk354q6y2ny