Providing safety critical information to the driver
is vital in reducing road accidents, especially at intersections.
Intersections are complex to deal with due to the presence of
large number of vehicle and pedestrian activities, and possible
occlusions. Information available from only the sensors onboard
a vehicle has limited value in this scenario. In this
paper, we propose to utilize sensors on-board the vehicle of
interest as well as the sensors that are mounted on nearby
vehicles to enhance the driver situation awareness. The
resulting major research challenge of sensor registration with
moving observers is solved using a mutual information based
technique. The response of the sensors to common causes are
identified and exploited for computing their unknown relative
locations. Experimental results, for a mock up traffic
intersection in which mobile robots equipped with laser range
finders are used, are presented to demonstrate the efficacy of
the proposed technique.
