Cooperative multi sensor network for traffic safety applications at intersections

To significantly reduce injury and fatal accidents smart intersections equipped with sensors and communication infrastructure have been proposed. In this publication a novel multi sensor network to perceive the intersection environment is presented. Based on an intensive analysis of accident scenarios in Germany the system was designed to address 75 % of all severe and lethal accidents. 14 laserscanners, 10 cameras, signal phase tapping and an I2V communication unit have been installed at a public intersection in Aschaffenburg, Germany. By using computer based field of view modelling the sensor positions are carefully selected to avoid occlusions. Thus, the infrastructure perception system provides a bird´s eye view. Our experiments show that spatial and temporal alignment of sensor data is achieved. We also demonstrate that a part of the sensor network, a calibrated stereo system, allows 3D coordinates in the field of view region of the cameras to be determined with an accuracy of 30 mm.