  In this paper, we present a parallel architecture for a sensor fusion
detection system that combines a camera and 1D light detection and ranging
(lidar) sensor for object detection. The system contains two object detection
methods, one based on an optical flow, and the other using lidar. The two
sensors can effectively complement the defects of the other. The accurate
longitudinal accuracy of the object's location and its lateral movement
information can be achieved simultaneously. Using a spatio-temporal alignment
and a policy of sensor fusion, we completed the development of a fusion
detection system with high reliability at distances of up to 20 m. Test results
show that the proposed system achieves a high level of accuracy for pedestrian
or object detection in front of a vehicle, and has high robustness to special
environments.
