García Fernández, FernandoMartín Gómez, DavidEscalera Hueso, Arturo de laArmingol Moreno, José María2021-12-142021-12-142017-04Garcia, F., Martin, D., de la Escalera, A. & Armingol, J. M. (2017). Sensor Fusion Methodology for Vehicle Detection. IEEE Intelligent Transportation Systems Magazine, 9(1), 123–133.1941-1197https://hdl.handle.net/10016/33757A novel sensor fusion methodology is presented, which provides intelligent vehicles with augmented environment information and knowledge, enabled by vision-based system, laser sensor and global positioning system. The presented approach achieves safer roads by data fusion techniques, especially in single-lane carriage-ways where casualties are higher than in other road classes, and focuses on the interplay between vehicle drivers and intelligent vehicles. The system is based on the reliability of laser scanner for obstacle detection, the use of camera based identification techniques and advanced tracking and data association algorithms i.e. Unscented Kalman Filter and Joint Probabilistic Data Association. The achieved results foster the implementation of the sensor fusion methodology in forthcoming Intelligent Transportation Systems.11eng© 2017, IEEEPedestrian detectionDetection systemLaser scannerVisionFrameworkLidarresearch articleInformáticaRobótica e Informática Industrialhttps://doi.org/10.1109/MITS.2016.2620398open access1231133IEEE Intelligent Transportation Systems Magazine9AR/0000019431