カメラとV2V通信センサ間のデータ対応付け
Data Association Between Perception and V2V Communication Sensors
カメラと車車間通信センサの測定値をマハラノビス距離で対応付ける低計算コストなリアルタイムアルゴリズムを実装した論文。
著者: Mustafa Ridvan Cantas, Arpita Chand, Hao Zhang, Gopi Chandra Surnilla, Levent Guvenc
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
The connectivity between vehicles, infrastructure, and other traffic participants brings a new dimension to automotive safety applications. Soon all the newly produced cars will have Vehicle to Everything (V2X) communication modems alongside the existing Advanced Driver Assistant Systems (ADAS). It is essential to identify the different sensor measurements for the same targets (Data Association) to use connectivity reliably as a safety feature alongside the standard ADAS functionality. Considering the camera is the most common sensor available for ADAS systems, in this paper, we present an experimental implementation of a Mahalanobis distance-based data association algorithm between the camera and the Vehicle to Vehicle (V2V) communication sensors. The implemented algorithm has low computational complexity and the capability of running in real-time. One can use the presented algorithm for sensor fusion algorithms or higher-level decision-making applications in ADAS modules.
