Long Range Obstacle Detection Using Laser Scanner and Stereovision

To be exploited for driving assistance purpose, a road obstacle detection system must have a good detection rate and an extremely low false detection rate. Moreover, the field of possible applications depends on the detection range of the system. With these ideas in mind, we propose in this paper a long range generic road obstacle detection system based on fusion between stereovision and laser scanner. The obstacles are detected and tracked by the laser sensor. Afterwards, stereovision is used to confirm the detections. An overview of the whole method is given. Then the confirmation process is detailed: three algorithms are proposed and compared on real road situations