A survey on multi-sensor fusion based obstacle detection for intelligent ground vehicles in off-road environments  

作　　者：Jin-wen HU Boyin ZHENG Ce WANG Chun-hui ZHAO Xiao-lei HOU Quan PAN Zhao XU 

机构地区：[1]Key Laboratory of Information Fusion Technology,North western Polytechnical University,Xi'an 710072,China

出　　处：《Frontiers of Information Technology & Electronic Engineering》2020年第5期675-692,共18页信息与电子工程前沿（英文版）

基　　金：Project supported by the National Natural Science Foundation of China(Nos.61603303,61803309,and 61703343);the Natural Science Foundation of Shaanxi Province,China(No.2018JQ6070);the China Postdoctoral Science Foundation(No.2018M633574);the Fundamental Research Funds for the Central Universities,China(Nos.3102019ZDHKY02 and3102018JCC003)。

摘　　要：With the development of sensor fusion technologies, there has been a lot of research on intelligent ground vehicles, where obstacle detection is one of the key aspects of vehicle driving. Obstacle detection is a complicated task, which involves the diversity of obstacles, sensor characteristics, and environmental conditions. While the on-road driver assistance system or autonomous driving system has been well researched, the methods developed for the structured road of city scenes may fail in an off-road environment because of its uncertainty and diversity.A single type of sensor finds it hard to satisfy the needs of obstacle detection because of the sensing limitations in range, signal features, and working conditions of detection, and this motivates researchers and engineers to develop multi-sensor fusion and system integration methodology. This survey aims at summarizing the main considerations for the onboard multi-sensor configuration of intelligent ground vehicles in the off-road environments and providing users with a guideline for selecting sensors based on their performance requirements and application environments.State-of-the-art multi-sensor fusion methods and system prototypes are reviewed and associated to the corresponding heterogeneous sensor configurations. Finally, emerging technologies and challenges are discussed for future study.

关 键 词：Multi-sensor fusion Obstacle detection Off-road environment Intelligent vehicle Unmanned ground vehicle 

分 类 号：U463.6[机械工程—车辆工程]