Fusion Of Lidar And Camera Data For Distance Determination Of Image Features

Abstract

The fusion of sensors is a major need in order to create a wider spectrum for environmental perception. Using laser range scanners and cameras, the distance of detected objects of interest within the image can be determined by merging the sensor data properly. On real-time systems like unmanned aerial vehicles, it is important to make simple calculations and keep the merging process cheap in terms of computational time. This paper develops an appropriate fusion method based on ray tracing techniques. The proposed method is rather simple, making it possible to create slim implementations. In order to widen the area of application in which this method can be used, variations of it on different parts are introduced. To verify this method, but also to possibly reveal weaknesses, it is tested in a simulation environment and through experimental tests and analyzes.