Sensor fusion of LiDAR and Camera for real time object detection - pitch version

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NECST Lab @ Politecnico di Milano

Autonomous vehicles primary need is to have a robust and precise perception of the surrounding environment. To achieve accurate results in autonomous driving a combination of several different sensors is used. This technique is commonly known as sensor fusion. However, a critical aspect of autonomous driving perception is also the reactivity: we do not only need to perform sensor fusion properly, but we also have to respect real time requirements. The latter are fundamental to guarantee predictability of the system, avoid anomalous situations and prevent hazards. Performing fusion online is not trivial because sensors returns a lot of data and process them may be time consuming. The solution we present is an alignment of the sensors, which combines information from LiDAR and cameras, that is performed once in preprocessing and allow us to exploit the precomputed matching in real time.

Sensor fusion for real time
object detection
Bagni Fabio
228594@studenti.unimore.it
San Francisco - 15 May 2019

2
Fabio Bagni
San Francisco - 15 May 2019
Perception for
autonomous vehicles
3D object detection all around.
● Precision
● Reactivity

3
Fabio Bagni
San Francisco - 15 May 2019
HiPeRT autonomous prototype

4
Fabio Bagni
San Francisco - 15 May 2019
Heterogeneous sensors
LiDAR
Cameras

5
Fabio Bagni
San Francisco - 15 May 2019
Sensors fields of view static alignment
Cameras
LiDAR

6
Fabio Bagni
San Francisco - 15 May 2019
Cylindrical views alignment
Calibration to align sensor views in a static setup.

7
Fabio Bagni
San Francisco - 15 May 2019
Results

8
Fabio Bagni
San Francisco - 15 May 2019
Colored point cloud

9
Fabio Bagni
San Francisco - 15 May 2019
Object detection
Object detection Camera
Size and position LiDAR points (clustering)

10
Fabio Bagni
San Francisco - 15 May 2019
Real time detection

11
Thanks for your attention
Bagni Fabio
228594@studenti.unimore.it

13
Fabio Bagni
San Francisco - 15 May 2019
Cylindrical projection
Projection of heterogeneous data on
the same cylinder’s surface.

14
Fabio Bagni
San Francisco - 15 May 2019
Precision and reactivity
● Avoid accidents
● Respect traffic laws

15
Fabio Bagni
San Francisco - 15 May 2019
Precision and reactivity
● Avoid accidents
● Respect traffic laws

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Sensor fusion of LiDAR and Camera for real time object detection - pitch version

1. Sensor fusion for real time object detection Bagni Fabio 228594@studenti.unimore.it San Francisco - 15 May 2019

2. 2 Fabio Bagni San Francisco - 15 May 2019 Perception for autonomous vehicles 3D object detection all around. ● Precision ● Reactivity

3. 3 Fabio Bagni San Francisco - 15 May 2019 HiPeRT autonomous prototype

4. 4 Fabio Bagni San Francisco - 15 May 2019 Heterogeneous sensors LiDAR Cameras

5. 5 Fabio Bagni San Francisco - 15 May 2019 Sensors fields of view static alignment Cameras LiDAR

6. 6 Fabio Bagni San Francisco - 15 May 2019 Cylindrical views alignment Calibration to align sensor views in a static setup.

7. 7 Fabio Bagni San Francisco - 15 May 2019 Results

8. 8 Fabio Bagni San Francisco - 15 May 2019 Colored point cloud

9. 9 Fabio Bagni San Francisco - 15 May 2019 Object detection Object detection Camera Size and position LiDAR points (clustering)

10. 10 Fabio Bagni San Francisco - 15 May 2019 Real time detection

11. 11 Thanks for your attention Bagni Fabio 228594@studenti.unimore.it

13. 13 Fabio Bagni San Francisco - 15 May 2019 Cylindrical projection Projection of heterogeneous data on the same cylinder’s surface.

14. 14 Fabio Bagni San Francisco - 15 May 2019 Precision and reactivity ● Avoid accidents ● Respect traffic laws

15. 15 Fabio Bagni San Francisco - 15 May 2019 Precision and reactivity ● Avoid accidents ● Respect traffic laws