On board data fusion and decision system used for obstacle detection: 2D vision versus 1D sensor fusion

This paper describes an obstacle detection system based on multi-sensorial data fusion. Classically, a vision system is proposed to solve this problem, but the authors want to test another way by using binary scanning sensors as the basic modality of an incremental fusion system. The authors compute a 2-D representation of the smart vehicle environment by combining basic reconstruction and additional incremental information under the assumption of a co-operative environment between vehicles and infrastructure.