2021 BRN Discussion, page-31854

@JDelekto

Hi JD,

Valeo have a patent application for a fused sensor system combining LiDAR 16 and camera 14 which superimposes the 3-D LiDAr data on the 2-D camera data:

WO2020127151A1 METHOD FOR IMPROVED OBJECT DETECTION



The invention provides a method for improved object (22) detection based on two types of environment sensors (14, 16) applied in a driving support system (12) of a vehicle (10), whereas the first type of environment sensor is an image type sensor (14) having an image-field-of-view (18) and the second type of environment sensor is a range type sensor (16) having a range-field-of-view (20) that at least partially overlaps the image- field-of-view (18), comprising the steps of providing a 2-dimensional array of data points (26) representing the surrounding of the vehicle (10) in the image-field-of-view (18) by at least one image type sensor (14), identifying one or more troublemakers (24) in the 2- dimensional array of data points (26), providing a 3-dimensional array of data points (28) representing the surrounding of the vehicle (10) in the range-field-of-view (20) by at least one range-type-sensor (16), mapping the 3-dimensional array of data points (28) into the 2-dimensional array of data points (26), selecting one or more 3D-sub-sets of data points (27) in the 3-dimensional array of data points (28) matching the one or more troublemakers (24), providing a revised 3-dimensional array of data points (34), considering the 3-dimensional array of data points (28) and the one or more 3D-sub-sets of data points (27), and detecting position, size, velocity, and/or orientation of objects (22), considering the revised 3-dimensional array of data points (34).