R. Lindl, L. Walchshäusl Three-Level Early Fusion for Road User Detection PReVENT Fusion Forum e-Journal Volume 1, Sep. 2006 (bib)
	This paper deals with a novel three-level sensor fusion approach in order to detect and track cars and pedestrians. The underlying perception system is composed of a far infrared imaging device, a laser scanner and several radar sensors, which operate integrated into a BMW sedan. At three different levels fusion is applied to approach the generation of a robust and accurate description of the area in front of the vehicle. Based on this environment perception a preventive safety application is outlined, which autonomously brakes in case of an inevitable accident.
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