Fusing LIDAR sensor and RGB camera for object detection in autonomous vehicle with fuzzy logic approach

An autonomous vehicle or self-driving car is a vehicle having the ability to sense the surrounding environment and capable of operation on its own without any human interference. The key to the perception system holding responsibility to collect the information in the outside world and determine the safety of the vehicle is a variety of sensors mounting on it. However, each of the sensors has its strengths and weaknesses, so fusing them can fill out the gap between sensors and make the self-driving system more reliable. As a result, the information after fusing becomes more reliable and efficient to further process.

I. Introduction

Autonomous vehicle (AV) (also known as self-driving car or driverless cars) have been received lots of attention in both academic research and industrial manufacturers for the last two decades. They’re categorize into 5 levels of autonomy [1] as follow: