Fusion of multiple 2D LiDAR and RADAR for object detection and tracking in all directions

For autonomous vehicle and ADAS(Advanced Driver Assistance System), it is essential to detect and to track objects within a certain area in realtime. This paper presents the 2D tracker that fuses with four 2D LiDARs and one RADAR. It independently detects objects according to the type of sensors and represents these in the same space. It continuously associates measurements of the same object and tracks these with KF(Kalman Filter) for prediction and JPDAF(Joint Probabilistic Data Association Filter) for update. The result of our multi-sensor fusion tracker is demonstrated with a visualization tool.