Heterogeneous Fusion of Video, LIDAR and ESP Data for Automotive ACC Vehicle Tracking

This contribution introduces an approach to cross-calibrate automotive vision and ranging sensors. The resulting sensor alignment allows the incorporation of multiple sensor data into a common detection framework. Exemplarily, we show how a realtime vehicle detection system, intended for emergency breaking or ACC applications, benefits from the low level fusion of multibeam lidar and vision sensor measurements in discrimination performance and computational complexity. The following tracking stage estimates the position and velocities of targets to permit distance control, time to collision measurements and further situation analysis