Environmental Perception for Intelligent Vehicles

Environmental Perception for Intelligent Vehicles (EPIV) generally focuses on the awareness and understanding of the driving environment around intelligent vehicles by various vehicle sensors. In recent years, a lot of excellent research has been conducted on developing novel methods and technologies for EPIV. This chapter overviews some of the main research topics in the field of EPIV. First, this chapter reviews various types of vehicle sensors which capture multimodal environmental information around intelligent vehicles and form the foundation for environmental perception. Second, this chapter focuses on data restoration and denoising technologies on camera and LiDAR sensors, which guarantees the quality of the data captured by the vehicle. Third, this chapter deals with methods on semantic segmentation, object detection and tracking with camera and LiDAR data, which play a central role in environmental understanding. Fourth, this chapter introduces technologies on location and mapping with multimodal sensor data, which is essential for the local path planning of intelligent vehicles. Finally, this chapter discusses the research technologies on fusing multimodal environmental data, which represents the frontier of EPIV development.