Multiple Cue Data Fusion with Particle Filters for Road Course Detection in Vision Systems

Abstract

In the following we present a robust, real time applicable fusion system for detection of the road course up to 100m. For that, using a particle filter we developed a robust and flexible system which fuses the information from a digital map system and different cues from an image sensor. In addition we present a new image based feature for road surface detection. The system works in realtime.