Vehicle Detection , Tightly Coupled LIDAR and Computer Vision Integration for

Vehicle Detection, Tightly Coupled LIDAR and Computer Vision Integration for. Table 1 Performance comparison of existing sensor technologies used in ITS [14]

Sensor technology	Advantage	Disadvantage
LIDAR	Detect distance and angle with high accuracy	High cost
	Low data processing requirement	Limited detection range
	Operational in fog and rain	Difficult to classify the object
Radar	Direct measurement of speed or distance	Relatively low precision
	Compact size	Limited field of view
	Low data processing requirement	May have identification problem in multilane applications
	Low data processing requirement	Medium cost
Video camera	Provide real-time image of traffic	High requirement for data processing and storage
	Low cost	High requirement for data processing and storage
	Multiple lanes observed	Different algorithms required for day- and nighttime
	No traffic interruption for installation and repair	Different algorithms required for day- and nighttime
	Large field of view	Susceptible to atmospheric obscurants and weather change
Infrared camera	Day and night operation	High requirement for data processing
Infrared camera	Operational in fog	Susceptible to weather change
Inductive loop detector	Low cost per unit	Installation and maintenance require traffic disruption
Inductive loop detector	Large experience base	Easily damaged