We present a sensor fusion system using lidar and approach uses multiple classifiers based on the view angles. camera. We separate the system into two part which is By using the lidar data, we separate each candidate by its hypothesis generation part and hypothesis verification part. view angle. These separated candidates are classified using These parts use different single sensors. Hypothesis generation different classifiers which is expertise in their view angle.is done using the lidar and hypothesis verification is done using This paper is organized as follows: In section II, we the camera image. In hypothesis generation, we cluster the lidar . . A data and do a perspective mapping to generate the candidate. In explain over all system. And i section III, we cover the hypothesis verification, we used 5-SVMs classifier. Based on the hypothesis generation using lidar. Hypothesis verification candidate position, the candidate is putted in different SVM. In procedure are explained in section IV and in section V, we the result, we compared the result between 5-SVM hypothesis present our experimental result. Final discussion and verification and single SVM hypothesis verification. The result conclusion are presented in section VI.showed 2.2% improvement.
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