%0 Journal Article
	%A Hatem Hajri and  Mohamed-Cherif Rahal
	%D 2018
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 140, 2018
	%T Real Time Lidar and Radar High-Level Fusion for Obstacle Detection and Tracking with Evaluation on a Ground Truth
	%U https://publications.waset.org/pdf/10009412
	%V 140
	%X Both Lidars and Radars are sensors for obstacle
detection. While Lidars are very accurate on obstacles positions
and less accurate on their velocities, Radars are more precise on
obstacles velocities and less precise on their positions. Sensor
fusion between Lidar and Radar aims at improving obstacle
detection using advantages of the two sensors. The present
paper proposes a real-time Lidar/Radar data fusion algorithm
for obstacle detection and tracking based on the global nearest
neighbour standard filter (GNN). This algorithm is implemented
and embedded in an automative vehicle as a component generated
by a real-time multisensor software. The benefits of data fusion
comparing with the use of a single sensor are illustrated through
several tracking scenarios (on a highway and on a bend) and
using real-time kinematic sensors mounted on the ego and tracked
vehicles as a ground truth.
	%P 821 - 827