Sensor fusion-based precise obstacle localisation for automatic parking systems

A precise obstacle localisation method for automatic parking systems is proposed. The proposed method improves the obstacle localisation accuracy by fusing only the sensors already installed on mass-produced vehicles. This method finds the initial obstacle location using ultrasonic sensors. On the basis of the initial obstacle location, it detects the obstacle's vertical outlines using images provided by an around view monitor system while the ego-vehicle is moving. The sequentially detected vertical outlines are combined based on the ego-vehicle positions estimated by built-in motion sensors. Finally, the obstacle location is refined by calculating the intersection point of the combined vertical outlines. In experiments, the proposed method was quantitatively evaluated and outperformed the previous method.