Abstract-In this paper an approach for 360 degree multi sensor fusion for static and dynamic obstacles is presented. The perception of static and dynamic obstacles is achieved by combining the advantages of model based object tracking and an occupancy map. For the model based object tracking a novel multi reference point tracking system, called best knowledge model, is introduced. The best knowledge model allows to track and describe objects with respect to a best suitable reference point. It is explained how the object tracking and the occupancy map closely interact and benefit from each other. Experimental results of the 360 degree multi sensor fusion system from an automotive test vehicle are shown.

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