Considering the all-weather working capability and powerful detection capability of MMW radar and the low cost of a monocular vision sensor, this paper attempts to inhibitor Sunitinib construct a novel radar-vision fusion architecture for navigating mobile vehicles.Many scientists have researched applications of MMW radar in the field of precision navigation, especially military applications such as missiles mounted with radar-infrared integrated seekers or satellites equipped with radar detectors for space observation. Recently with its decreasing cost and Inhibitors,Modulators,Libraries smaller size, MMW radar as an automotive radar is playing more and more important role in the development of active safety and autonomous navigation systems. To our knowledge, Grimes et al.
[1�C4] were the first to carry Inhibitors,Modulators,Libraries out an extensive investigation of automotive radar and discuss in detail its configurations and different potential applications for vehicles, which provided a guidance of later relevant development, and made great efforts on the development of applying radar systems to automobiles. Chuck et al. [5] integrated radar with a velocity sensor to use Kalman filters for localization and navigation Inhibitors,Modulators,Libraries of vehicles. Clark [6] employed a mechanical scanning MMW radar to extract the surrounding features and combined it with a GPS for AGV navigation. Even though MMW radar has great advantages such as detecting moving objects fast and providing the long-range detection and exact velocity measurement, MMW radar cannot recognize the shapes and sizes of the detected targets.
On the other hand, vision systems can easily obtain the contour of the targets within the short-distance sensing region of a visual sensor. Farid et al. [7] Inhibitors,Modulators,Libraries adopted a vision system based on optical flow for autonomous 3D localization and control of small UAVs. Budi et al. [8] utilized block matching technology for real-time tracking and identification of moving pedestrians through a single camera in an outdoor environment. Many researchers have studied vision-based navigation [9,10]. It seems that only a vision sensor could solve perfectly all the problems Brefeldin_A of environment perception for autonomous navigation application. Nonetheless, because of the state-of-art of computer technology and the drawbacks of the vision sensor like being easily influenced by illumination levels, reliable and real-time vision-based navigation under a complicated and dynamic environment is hard to implement.
Therefore, because of the complementary advantages of MMW radar and monocular vision sensor, radar-vision kinase inhibitor Erlotinib fusion has been receiving more and more attention in these years. Seong et al. [11] took a MASRAU0025 24 GHz MMW radar to do data association and moving object tracking by nearest clustering of original radar data. Alessandretti et al. [12] fused two 24 GHz scanning radars and vision sensors to improve the detection of vehicles and guard-rails. Wu et al.