Disparity estimation for multi-scale multi-sensor fusion  

作　　者：SUN Guoliang PEI Shanshan LONG Qian ZHENG Sifa YANG Rui 

机构地区：[1]Suzhou Automotive Research Institute,Tsinghua University,Suzhou 215000,China [2]Beijing Smarter Eye Technology Co.,Ltd.,Beijing 100023,China [3]College of Artifical Intelligence,Tianjin University of Science and Technology,Tianjin 300457,China [4]State Key Laboratory of Automotive Safety and Energy,Tsinghua University,Beijing 100084,China [5]Department of Precision Instrument,Tsinghua University,Beijing 100084,China

出　　处：《Journal of Systems Engineering and Electronics》2024年第2期259-274,共16页系统工程与电子技术（英文版）

基　　金：the National Key R&D Program of China(2018AAA0103103).

摘　　要：The perception module of advanced driver assistance systems plays a vital role.Perception schemes often use a single sensor for data processing and environmental perception or adopt the information processing results of various sensors for the fusion of the detection layer.This paper proposes a multi-scale and multi-sensor data fusion strategy in the front end of perception and accomplishes a multi-sensor function disparity map generation scheme.A binocular stereo vision sensor composed of two cameras and a light deterction and ranging(LiDAR)sensor is used to jointly perceive the environment,and a multi-scale fusion scheme is employed to improve the accuracy of the disparity map.This solution not only has the advantages of dense perception of binocular stereo vision sensors but also considers the perception accuracy of LiDAR sensors.Experiments demonstrate that the multi-scale multi-sensor scheme proposed in this paper significantly improves disparity map estimation.

关 键 词：stereo vision light deterction and ranging(LiDAR) multi-sensor fusion multi-scale fusion disparity map 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] TN957.52[自动化与计算机技术—控制科学与工程]