D32.6 Data synthesis algorithms
The main goal of this deliverable is the description of the procedure of algorithm development for the synthesis of the lateral and rear field around the vehicle. The deliverable describes the so-called perception layer and its algorithms - sensor data fusion and sensor tracking - and it is not a technical description of H/W and S/W, which will be described under deliverable D32.7 (system implementation). The algorithms are based on a LATERAL SAFE sensor configuration and the data structures – input/output of the sensors and systems that cover the rear and the lateral areas of the demonstrator vehicle. Thus, the deliverable describes the mathematical formulation of tracking in sensor level (short range radars, vision systems and long range radars) and the fusion of the track arrays in a central level in order to provide a synthesized perception of the application-requested lateral and rear areas. The deliverable will be the basis for the implementation of the signal and image processing and the data fusion S/W that will be integrated in LATERAL SAFE multi-sensor platform.