Fast Metric Tracking by Detection System: Radar Blob and Camera Fusion

This article proposes a system that fuses radar and monocular vision sensor data in order to detect and classify on-road obstacles, like cars or not cars (other obstacles). The obstacle detection process and classification is divided into three stages, the first consist in reading radar signals and capturing the camera data, the second stage is the data fusion, and the third step is the classify the obstacles, aiming to differentiate the obstacles types identified by the radar and confirmed by the computer vision. In the detection task it is important to locate, measure, and rank the obstacles to be able to take adequate decisions and actions (e.g. Generate alerts, autonomously control the vehicle path), so the correct classification of the obstacle type and position, is very important, also avoiding false positives and/or false negatives in the classification task.