By collecting and combining data from several sensors, Sensor Fusion tries to overcome the limits of individual sensors to create more accurate information with lower levels of uncertainty. Based on a stereo camera and IPM image, Bertozzi and Broggi created the generic obstacle and lane detection (GOLD) system to identify obstacles and lanes. Over 3000 kilometers of testing on the road revealed that the system was resilient to exposure to shadow, illumination, and route variance. A telelens camera and three wide-field cameras were integrated, and samples were taken at a rate of 14 Hz. IPM was carried out after raw photos were converted to HSV format. For lane detection and vehicle localization, an around-view monitoring (AVM) system with four fish-eye cameras and one monocular front-looking camera is utilised.
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