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Michael Aeberhard - Object-Level Fusion for Surround Environment Perception in Automated Driving Applications

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Michael Aeberhard

Object-Level Fusion for Surround Environment Perception in Automated Driving Applications

Reihe: Verkehrstechnik/Fahrzeugtechnik

Band 804 2017

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Sensor Data Fusion Architectures S. 27-45

„… , consisting of three levels of sensor data processing: sensor-level, fusion-level and application-level. The …” „… proposed architecture is organized into three levels of sensor data processing: sensorlevel, fusion-level …” „… fusion of a small group of sensors. 2.2.3 Fusion-Level At the fusion-level of the proposed sensor data …”

State and Covariance S. 64-92

„… association between objects at the fusion-level in a high-level sensor data fusion architecture is covered in …” „… asynchronous and multi-sensor configuration is the sequence of the sensor data at the fusion-level. Each sensor …” „… out-ofsequence sensor data at the fusion-level, which is a significant problem in a sensor-to-global fusion …”

Conclusion and Discussion S. 152-154

„… improve these driver assistance systems. Sensor data fusion will become a key aspect in future ADAS and …” „… realize more complex and intelligent behaviors of the vehicle. This thesis proposed a sensor data fusion …” „… and presented a novel high-level sensor data fusion architecture which was developed within this …”

Fusion Strategy and Object Association S. 46-63

„… method of processing sensor-level object data at the fusion-level is to use a sensorto-global fusion …” „… maintained over time at the fusion-level, data from the previous fusion is not lost when new sensor data …” „… high-level sensor data fusion architecture, each sensor produces an object list of the detected objects …”

Titelei/Inhaltsverzeichnis

„… dynamic objects is presented in order to realize an effective method for sensor data fusion. A scalable …” „… high-level fusion architecture is developed for fusing object data from several sensors in a single system …” „… . The developed high-level sensor data fusion architecture and its algorithms are evaluated using a …”

Evaluation S. 133-151

„… 7 Evaluation The proposed high-level sensor data fusion architecture presented in the previous …” „… detection and sensor data fusion are evaluated on a closed test track using two prototype vehicles for …” „… 7.3.3 Integration in Automated Driving and ADAS Projects The high-level sensor data fusion architecture …”

Classification S. 116-132

„… networks. Fusion of sensor classification data at a low-level within a Joint Integrated Probabilistic Data …” „… -level using only sensor-specific information (Section 6.1). At the fusion-level, classification vectors from …” „… be thought of as a classification hypothesis for an unknown class. Following the proposed sensor data …”

References S. 172-202

„… ] Becker, J., “Fusion of Data from the Object-Detecting Sensors of an Autonomous Vehicle,” in IEEE …” „… ] Becker, J. and Simon, A., “Sensor and Navigation Data Fusion for an Autonomous Vehicle,” in IEEE …” „… Information Fusion, Cairns, Australia, July 2003, pp. 2–10. [72] ——, “Multi Sensor Data Fusion Using a …”

Synchronous Track-to-Track Fusion Algorithms S. 155-161

„… due to common information history, these algorithms use a sensor-to-sensor fusion strategy. If the …” „… sensors are asynchronous, they are temporally aligned for the sensor-to-sensor fusion process, as …” „… The most basic fusion algorithm takes two state estimates from sensors i and j and combines them …”

Introduction S. 1-26

„… system [76, 147, 219]. The combination of data from many sensor sources is called sensor data fusion and …” „… . . . Sensor N Sensor Data Fusion Application 1 . . . Application N Environment Model (b) Figure 1.1: Basic …” „… data processing through a common sensor data fusion module (b). in vehicles. With the increase of …”

Existence Probability S. 93-115

„… ) is shown in Table 5.1. Each time object data from a sensor arrives at the fusion-level, each global …” „… object exists, but is currently occluded [215, 217]. In the proposed high-level sensor data fusion …” „… quality measure is used. In a high-level sensor data fusion architecture, it is important to properly …”

Determining the Trust Probability S. 164-166

„… sensors. Therefore, the trust probability serves as a weighting factor during the fusion process, with the …” „… goal of properly considering sensor’s performance during fusion. In this appendix, the trust …” „… C Determining the Trust Probability For the fusion of the existence and classification probability …”

Evaluation Scenario Descriptions S. 167-171

„… D Evaluation Scenario Descriptions Sensor data during several highway scenarios were recorded using …” „… parametrization of existence and classification fusion algorithms made use of the data described in this section …” „… camera sensor from the host vehicle. Each row of the image refers to one of three data sets, where the …”

doi.org/10.51202/9783186804129

VDI Wissensforum GmbH - LAND.TECHNIK 2022

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VDI Wissensforum GmbH (Hrsg.)

LAND.TECHNIK 2022

Reihe: VDI-Berichte

Band 2395 2022

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R. R. Shamshiri, C. Weltzien, T. Schutte Multi-Sensor Data Fusion with Fuzzy Knowledge-based Controller for Collision Avoidance of a Mobile Robot S. 349-358

„… Multi-Sensor Data Fusion with Fuzzy Knowledge-based Controller for Collision Avoidance of a Mobile …” „… distributed control system with multi-sensor data fusion and a fuzzy knowledge-based algorithm for collision …” „… driving the robot in a real berry field and collecting sensor and steering data. Results from experiments …”

M. Wesle-Zehetmair, C. Engelhart, C. Marbach, C. Engelhart Innovative surround sensing conquers the agricultural market! Vision System – a pioneering sensor system for diverse use S. 171-176

„… control unit for sensor data processing. By interlinking all of the vehicle’s surround sensors, a …” „… curr ntly being cre ted with the fusion system and the asso iated central control unit for senso data …” „… visualization platform that enables the objects detected by the radar or ultrasonic sensors to be indicated on …”

Titelei/Inhaltsverzeichnis

„… Multi-Sensor Data Fusion with Fuzzy Knowledge-based Controller for Collision Avoidance of a Mobile Robot …” „… ); detailed bibliographic data is available via Internet at www.dnb.de. f Electrical Agricultural Machines …” „… , Zedelgem, Belgium f Robotics in Weed Control Dual use sensor array for crop management in arable farming …”

doi.org/10.51202/9783181023952

Sascha Steyer - Grid-Based Object Tracking

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Sascha Steyer

Grid-Based Object Tracking

Reihe: Mess-, Steuerungs- und Regelungstechnik

Band 1272 2021

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Measurement Grid Representation and Fusion S. 13-38

„… . The focus is thereby placed on the representation of the occupancy state and the sensor data fusion …” „… similar grid fusion approaches, the problem of asynchronous sensor data is considered, where new …” „… sensor data fusion and especially later in the temporal filtering with the additional static/dynamic …”

Introduction S. 1-12

„… , sensor data fusion of multiple heterogeneous sensors is required, with an advantageous utilization of the …” „… performed by a cell-wise combination for both the temporal mapping accumulation and the sensor data fusion …” „… occupancy accumulation, but also a robust sensor data fusion and association, all by the grid cell …”

Conclusion S. 165-168

„… sensor data fusion, temporal filtering of the dynamic grid mapping, object extraction and association …” „… sensor data with different measurement and latency time instances, a new fusion strategy has been …” „… . In conclusion, this thesis has presented new methods for sensor data fusion, temporal filtering and …”

Titelei/Inhaltsverzeichnis

„… sensor data fusion. Popular approaches are commonly based on a sensor-individual object tracking with an …” „… Data Fusion Mobile robots require an accurate environment perception to plan intelligent maneuvers and …” „… Spatiotemporal Alignment of Asynchronous Sensor Data . . . . . . 30 2.5 Results and Summary …”

Bibliography S. 170-186

„… , M. Stuebler, S. Reuter, and K. Dietmayer. Fusion of laser and radar sensor data with a sequential …” „… . Track-to-Track Fusion With Asynchronous Sensors Using Information Matrix Fusion for Surround Environment …” „… . Chavez-Garcia and O. Aycard. Multiple Sensor Fusion and Classification for Moving Object Detection and Tracking …”

Own Publications S. 169

„… . Tanzmeister and S. Steyer. Spatiotemporal alignment for low-level asynchronous data fusion with radar sensors …” „… ., 21(7):2874–2893, July 2020. [2] S. Steyer, G. Tanzmeister, C. Lenk, V. Dallabetta, and D. Wollherr. Data …” „… in grid-based tracking and mapping. In Proc. IEEE Int. Conf. Multisensor Fusion and Integration for …”

Evaluation S. 127-164

„… real sensor data in various traffic scenarios of multiple test vehicles during the last years. Thereby …” „… depicted in Fig. 6.1. Altogether, this enables full 360◦ coverage with a multi-sensor fusion and partial …” „… multiple lidar, radar, and camera sensors form the input of this work. These measurement data are …”

Object State Estimation S. 101-126

„… occupancy and freespace hypotheses. This includes the sensor data fusion and the dynamic grid estimation by …” „… , low-level early-stage sensor fusion approaches with a late-stage object abstraction and tracking, as …” „… estimation forms the last processing step based on the combined measurement data of all sensors. In the …”

Dynamic Grid Mapping and Particle Tracking S. 39-78

„… discretized cell structure of occupancy grids enable a low-level sensor data fusion, without specific object …” „… and fusion of sensor measurements as measurement grids. The fused measurement grid thereby contains …” „… estimated dynamic grid map Mt with real sensor data in an urban scenario is shown in Fig. 3.1a. Another …”

Object Extraction and Association S. 79-100

„… objects thereby have to be extracted from different sensor data, such as camera images, range-based …” „… detections of lidar or radar sensors, or some other pre-processed or fused representation of measurement data …” „… within the generic occupancy grid representation, followed by the grid-based sensor fusion as well as the …”

doi.org/10.51202/9783186272089

VDI Wissensforum GmbH - ELIV-MarketPlace 2022

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VDI Wissensforum GmbH (Hrsg.)

ELIV-MarketPlace 2022

Reihe: VDI-Berichte

Band 2405 2022

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E. Richter Next-Gen Sensor Fusion for Next-Gen Sensors and Driving Functions S. 37-58

„… we need Next-Generation Sensor Fusion?Dynamic ObjectsStatic ObjectsFree SpaceEnvironmental Model1 …” „… Next-Gen Sensor Fusion for Next-Gen Sensors and Driving Functions Dr.-Ing. Eric Richter, BASELABS …” „… GmbH, Chemnitz Abstract For next-generation driving functions and sensors, integrated sensor fusion …”

V. Anselm, I. Kotori Mastering Data Replay and HIL for ADAS and AD together S. 145-158

„… CRITICALData SourcesTest FarmSimulation and ModelingRecorded Drive and Sensor DataRoad Test and …” „… DATAWORLDSIMULATIONADAS ECUSENSORSADAS ECUVDI-Berichte Nr. 2405, 2022 149ni.comSENSOR SENSOR ECU FUSION ECUChallenges of …” „… Sensor DataMULTIPLE ECU SPECIFIC INTERFACESETHERNET gRPCETHERNET RDMAEthernet InterfacesSimulation PC …”

M. Tanimou, T. Stumpf Centralized Architecture in Commercial Vehicles and its impact on Software defined Architecture S. 403-412

„… architecture2Vehicle-centralized and zonal E/E architectureDomain-fusion and zonal E/E …” „… (SOP)Domain-centralizedDomain-fusion,vehicle-centralized and zonal2025Cyan Magenta Yellow BlackPreflight Lx3 am Oktober 17, 2022 | 16:45:47 | 209.9 mm x …” „… property rights.Domain fusion as way to allow smooth migrationSolutions for future E/E architecture3 …”

S. Poledna, L. Antonia Zaza Bringing together major stakeholders to shape the future of autonomous operation. Can this also be done for the offhighway industry? S. 447-460

„… intelligenceAlgorithms and neural networksSensor fusion & real-time data Higher capacity and fast CPU performancesSensors …” „… & TrendsTrends in Off-HighwayHigh speed networking for sensor/camera data, software updates and video streaming …” „… in-vehicle architectures need to be redeveloped. Furthermore, more and more data need to be processed and …”

Titelei/Inhaltsverzeichnis

„… neocx GmbH, Dresden f Autonomous Driving in Practice – Use Cases and ExperiencesNext-Gen Sensor Fusion …” „… National Bibliography); detailed bibliographic data is available via Internet at www.dnb.de.Preflight Lx3 …” „… for Next-Gen Sensors and Driving Functions � � � � � � � � � � � � � � � � �37 E …”

B. Franczyk Technology comparison of surround sensors for mobile machines – Change from rule-based systems to Deep Learning S. 421-428

„… SENSORSwww.digitalisierung-landwirtschaft.deCamera LIDAR RADAR Ultrasound FusionField of viewMeasuring range, RangeVelocity resolutionRadial …” „… Technology comparison of surround sensors for mobile machines Change from rule-based systems to …” „… increasingly being equipped with different types of sensors such as LIDAR, RADAR, Ultrasound or Cameras in …”

V. Horvath, H. Laine, G. Blahut, A. Késmárki, M. Pfeifle Streaming Map Data Efficiently from Cloud to ECUs – A Cost-Efficient and Self-Adapting Solution for Intelligent Speed Assistance S. 239-248

„… v1 [5] Perumal, L. Doss, A.(2020). Sensor Fusion for Automotive Dead Reckoning Using GPS and IMU for …” „… Streaming Map Data Efficiently from Cloud to ECUs A Cost-Efficient and Self-Adapting Solution for …” „… to predict legal speed limits for publicly available map data. These limits are transmitted from …”

J. Toennemann Architectural Guidelines for AUTOSAR-based E/E Systems with Safety-related Availability Requirements S. 211-218

„… distributed function:Time synchronization is essential for use cases that perform sensor fusionSecure …” „… heavy workload (e.g. sensor fusion) canbe performed on application cores> an upper bound on timing …” „… B(D) on AvailabilityLegend Bus Power Sensors/Actuators3Use Cases for Fail-operational SystemsL3 AD …”

doi.org/10.51202/9783181024058

VDI Wissensforum GmbH - AgEng LAND.TECHNIK 2022

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VDI Wissensforum GmbH (Hrsg.)

AgEng LAND.TECHNIK 2022

Reihe: VDI-Berichte

Band 2406 2022

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H. Tavakoli, J. Correa, S. Vogel, R. Gebbers RapidMapper – a mobile multi-sensor platform for the assessment of soil fertility in precision agriculture S. 351-358

„… and present an initial evaluation of the sensor data fusion. Prediction performance for pH, soil …” „… . 2406, 2022 3514, 6]. Research on soil sensor data fusion has been recently reviewed by Munnaf, et al …” „… .: Site-specific seeding using multi-sensor and data fusion techniques: A review, in Advances in Agronomy, D.L …”

R. R. Shamshiri, C. Weltzien, I. Zytoon, B. Sakal Evaluation of Laser and Infrared Sensors with CANBUS Communication for Collision Avoidance of a Mobile Robot S. 121-130

„… , C. Weltzien, and T. Schutte, “Multi-Sensor Data Fusion with Fuzzy Knowledge-based Controller for …” „… experiments. The proposed approach created a flexible framework for exchanging data between each of the sensor …” „… Navigation, Sensor fusion, Agricultural mobile robots, LiDARs Introduction The use of robots in agriculture …”

M. Gränitz, J. Hirth Sensors for Agriculture Robots – How sensors and software enable the transformation towards highly automated and sustainable agricultural production systems – a platform-based development approach – S. 343-350

„… autonomy kits realizes an intelligent sensor fusion to combine the information of the different sensors …” „… Sensors for Agriculture Robots How sensors and software enable the transformation towards highly …” „… SICK is a global, leading manufacturer of intelligent sensors and sensor solutions for industrial …”

F. Butzenlechner, P. Kastenhofer, A. Ettlinger, M. Gansberger, P. Prankl, A. Müllner Effects of site-specific corn sowing on yield and quality in different climatic regions in Austria S. 555-560

„… , Haesaert G, Van Meirvenne M, Mouazen A.M, 2020: Site-Specific seeding using multi-sensor and data fusion …” „… site-adapted sowing of maize in dry periods. The basis of these investigations are data obtained from field …” „… . There is a tendency, that site-adapted sowing leads to higher dry matter yields. The yield data from …”

doi.org/10.51202/9783181024065

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