A new concept for a cooperative fusion platform

Abstract

Abstract-The increasing traffic and the increasing number of sensors both in cars and in the infrastructure pose new challenges but also create new opportunities for traffic control. If the sensor data in various states of interpretation and aggregation could be shared and reused, it would be possible to minimize accidents and improve the traffic situation. In this paper we describe an approach to automatically configure sensor data fusion systems across the boundaries of independent subsystems, where information on all levels can be exchanged. The basis for this is a formal description of all required meta-information that enables the reasoning for automatic configuration.

Cooperative Raw Sensor Data Fusion for Ground Truth Generation in Autonomous Driving

“…The latter can be broadly subdivided into object-level and map-level fusion [7]. The cooperative fusion of raw sensor data [8] is an apparent extension, but not the scope of previous work due to the challenge of transmitting the required data in real time.…”

“…Due to the unrestricted transformation (8) of one point cloud to match the other and the proneness to converge into local minima, large transformation errors can arise depending on the initial relative pose. Thus, we propose to restrict the transformation parameters in (8) and extend the registration approach to multiple point clouds, while jointly moving the point clouds of all involved vehicles at the same time.…”