The aim of the presented work is to develop a vehicle having the ability to navigate autonomously in various urban environments. The research developments are based on an experimental platform consisting of an electrical vehicle with an automatic control, equipped with several sensors and communication interfaces. To reach the objective, the first primary task is to develop a perception system for detecting, localizing and tracking objects in this type of environments. In this paper, we present a laser data association method enriched by sterovision information in order to detect coalescing objects in difficult situations that cannot be resolved without sensors fusion.

The paper is organized as follows. Section 2 presents the laser data association method, the stereovision technique and the information fusion procedure. Before concluding, experimental results are presented in section 3 to demonstrate the effectiveness of the proposed approach.