Improvement of multisensor fusion in speed limit determination by quantifying navigation reliability

Anne-Sophie Puthon (1) , Fawzi Nashashibi (1, 2) , Benazouz Bradai (3)

1 CAOR - Centre de Robotique
2 IMARA - Informatique, Mathématiques et Automatique pour la Route Automatisée
3 Valeo Driving Assistance Domain

Speed limit determination is a complex task that may be solved by fusing data from GIS (Geographical Information System) and camera sensor. Among the existing data fusion models the Dempster-Shafer Belief Theory is found to be the most appropriate in this application. A confidence measure weights each source output, namely speed limit present on road sign and driving situation. Using the discounting scheme of Dempster-Shafer, we propose a new way of computing the navigation confidence measure by taking into account the reliability of the GIS. Preliminary tests showed that our method achieves promising results and solves conflicts between vision and navigation-based system.

Mots clés: Data Fusion; Speed Limit Determination; GIS

Domaines: Robotique [cs.RO]; Mathématiques appliquées

Anne-Sophie Puthon, Fawzi Nashashibi, Benazouz Bradai. Improvement of multisensor fusion in speed limit determination by quantifying navigation reliability. Intelligent Transportation System Conference - ITSC 10, Sep 2010, Funchal, Portugal. pp.855 - 860, ⟨10.1109/ITSC.2010.5625242⟩. ⟨hal-00546167⟩