High level sensor data fusion for automotive applications using occupancy grids

We describe a general architecture of vehicle perception system developed in the framework of the European project PReVENT-ProFusion. Our system consists of two main parts: the first part where the vehicle environment is mapped and moving objects are detected; and the second part where previously detected moving objects are verified and tracked. In this paper, we focus on the first part, using occupancy grid to model the vehicle environment, perform sensor data fusion and detect moving objects. Experimental results on a Volvo Truck equipped with laser scanner and radars show the effectiveness of our approach.