Fusion

Fusion of LiDAR and Camera

We used

• VLP 16 LiDAR
• Logitech stream camera

Preparation

LiDAR tracking

YOLO v3 and tracking

Fusion

Fusion Result

Download the code

There is release version of Fusion code. Paste it in /catking_ws/src/.

Alignment

You can change the hres and vres in launch file.

<launch>
    <node name="fusion_car_tracking" pkg="fusion_car_tracking" type="fusion_car_tracking" output="screen" respawn="true">
        <param name="hres" value="0.07480" />
        <param name="vres" value="0.101018" />
        <param name="y_fudge" value="120" />
        <param name="y_fudge2" value="-190" />
	<param name="map" value="0"/>
    </node>
</launch>

Run

in catking_ws

catkin_make -DCMAKE_BUILD_TYPE=Release
source devel/setup.bash
rosluanch fusion_car_tracking fusion.launch

Before run the fusion code, please check the yolov3 and lidar tracking code.

Evaluation

Official Tracking_msg viewer will be provided

Citation

Estimation of Closest In-Path Vehicle (CIPV) by Low-Channel LiDAR and Camera Sensor Fusion for Autonomous Vehicle

arxiv PDF

MDPI PDF

@misc{bae2021estimation,
      title={Estimation of Closest In-Path Vehicle (CIPV) by Low-Channel LiDAR and Camera Sensor Fusion for Autonomous Vehicle}, 
      author={Hyunjin Bae and Gu Lee and Jaeseung Yang and Gwanjun Shin and Yongseob Lim and Gyeungho Choi},
      year={2021},
      eprint={2103.13952},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

@Article{s21093124,
AUTHOR = {Bae, Hyunjin and Lee, Gu and Yang, Jaeseung and Shin, Gwanjun and Choi, Gyeungho and Lim, Yongseob},
TITLE = {Estimation of the Closest In-Path Vehicle by Low-Channel LiDAR and Camera Sensor Fusion for Autonomous Vehicles},
JOURNAL = {Sensors},
VOLUME = {21},
YEAR = {2021},
NUMBER = {9},
ARTICLE-NUMBER = {3124},
URL = {https://www.mdpi.com/1424-8220/21/9/3124},
ISSN = {1424-8220},
DOI = {10.3390/s21093124}
}