Fusion of information gathered from multiple sources is essential to build a comprehensive
situation picture for autonomous ground vehicles. In this paper, an approach which performs
scene parsing and data fusion for a 3D-LIDAR scanner (Velodyne HDL-64E) and a video
camera is described. First of all, a geometry segmentation algorithm is proposed for
detection of obstacles and ground areas from data collected by the Velodyne scanner. Then,
corresponding image collected by the video camera is classified patch by patch into more …