The algorithms that are being developed for the perception layer of the PReVENT subproject LATERAL SAFE are described. These algorithms aim at achieving a reliable representation of the objects and their kinematics, present at the lateral and rear field of the ego-vehicle. The work presented inthis paper is within the fields of radar tracking, sensor network processing, image and stereo vision processing, and integration and fusion of sensor-level processed data. The perception layer of LATERAL SAFE is a distributed sensor-level fusion system that processes in a central level the tracks of four tracking systems: a rear looking long range radar, two lateralshort range radar networks and a system of lateral and rear looking cameras. For the covering abstract see ITRD E134653.
Samenvatting