Pub Date : 2014-06-08DOI: 10.1109/IVS.2014.6856422
Dingfu Zhou, V. Fremont, B. Quost, Bihao Wang
In this paper, we propose an effective approach for moving object detection based on modeling the ego-motion uncertainty and using a graph-cut based motion segmentation. First, the relative camera pose is estimated by minimizing the sum of reprojection errors and its covariance matrix is calculated using a first-order errors propagation method. Next, a motion likelihood for each pixel is obtained by propagating the uncertainty of the ego-motion to the Residual Image Motion Flow (RIMF). Finally, the motion likelihood and the depth gradient are used in a graph-cut based approach as region and boundary terms respectively, in order to obtain the moving objects segmentation. Experimental results on real-world data show that our approach can detect dynamic objects which move on the epipolar plane or that are partially occluded in complex urban traffic scenes.
{"title":"On modeling ego-motion uncertainty for moving object detection from a mobile platform","authors":"Dingfu Zhou, V. Fremont, B. Quost, Bihao Wang","doi":"10.1109/IVS.2014.6856422","DOIUrl":"https://doi.org/10.1109/IVS.2014.6856422","url":null,"abstract":"In this paper, we propose an effective approach for moving object detection based on modeling the ego-motion uncertainty and using a graph-cut based motion segmentation. First, the relative camera pose is estimated by minimizing the sum of reprojection errors and its covariance matrix is calculated using a first-order errors propagation method. Next, a motion likelihood for each pixel is obtained by propagating the uncertainty of the ego-motion to the Residual Image Motion Flow (RIMF). Finally, the motion likelihood and the depth gradient are used in a graph-cut based approach as region and boundary terms respectively, in order to obtain the moving objects segmentation. Experimental results on real-world data show that our approach can detect dynamic objects which move on the epipolar plane or that are partially occluded in complex urban traffic scenes.","PeriodicalId":254500,"journal":{"name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132113540","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-08DOI: 10.1109/IVS.2014.6856617
Inna Stainvas, Yosi Buda
Curbs are important cues identifying the boundary of a roadway. Their detection is required by many automotive features. Currently there is no an agreed benchmark to report and compare curb detection results. This paper presents annotation and performance evaluation toolboxes (PET) developed by us for measuring the performance of curb detection algorithms. The PET is independent of particular sensor systems and is operating on planar curves or projection of 3D curb curves on any plane. We introduce two new criteria measuring directly deviation between the found and annotated curb curves. Usage of the distance transform to measure curb detection performance leads to very fast computations. This allows us to compare different sensor systems and analyze sensitivity of curb detection algorithms to different parameters and surrounding conditions.
{"title":"Performance evaluation for curb detection problem","authors":"Inna Stainvas, Yosi Buda","doi":"10.1109/IVS.2014.6856617","DOIUrl":"https://doi.org/10.1109/IVS.2014.6856617","url":null,"abstract":"Curbs are important cues identifying the boundary of a roadway. Their detection is required by many automotive features. Currently there is no an agreed benchmark to report and compare curb detection results. This paper presents annotation and performance evaluation toolboxes (PET) developed by us for measuring the performance of curb detection algorithms. The PET is independent of particular sensor systems and is operating on planar curves or projection of 3D curb curves on any plane. We introduce two new criteria measuring directly deviation between the found and annotated curb curves. Usage of the distance transform to measure curb detection performance leads to very fast computations. This allows us to compare different sensor systems and analyze sensitivity of curb detection algorithms to different parameters and surrounding conditions.","PeriodicalId":254500,"journal":{"name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116924458","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-08DOI: 10.1109/IVS.2014.6856395
Lijian Xu, L. Wang, G. Yin, Hongwei Zhang, Jin Guo
Packet loss in block erasure channels creates a randomly switching networked system that impacts control performance significantly. This paper employs safety of highway vehicle platoons as a platform to study such impact. By autonomous inter-vehicle coordination, a platoon can potentially enhance safety, improve highway utility, increase fuel economy, and reduce emission. By comparing different information structures which utilize radar distance sensors and wireless communication channels, we are able to characterize some intrinsic relationships between communication resources and control performance. The findings of this paper provide useful guidelines on communication resource allocations and vehicle coordinations in vehicle safety problems.
{"title":"Impact of package delivery rate on the safety of highway vehicle platoons","authors":"Lijian Xu, L. Wang, G. Yin, Hongwei Zhang, Jin Guo","doi":"10.1109/IVS.2014.6856395","DOIUrl":"https://doi.org/10.1109/IVS.2014.6856395","url":null,"abstract":"Packet loss in block erasure channels creates a randomly switching networked system that impacts control performance significantly. This paper employs safety of highway vehicle platoons as a platform to study such impact. By autonomous inter-vehicle coordination, a platoon can potentially enhance safety, improve highway utility, increase fuel economy, and reduce emission. By comparing different information structures which utilize radar distance sensors and wireless communication channels, we are able to characterize some intrinsic relationships between communication resources and control performance. The findings of this paper provide useful guidelines on communication resource allocations and vehicle coordinations in vehicle safety problems.","PeriodicalId":254500,"journal":{"name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","volume":"464 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115625854","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-08DOI: 10.1109/IVS.2014.6856520
J. H. Yang, Hong Joon Yoon, Woon-Sung Lee
A driver can mask his sleepiness. This study aims to determine effective and reliable indications of a driver's unmasked sleepiness using driver-vehicle data. A Bayesian approach and the signal detection theory were applied to investigate the effectiveness of selected driver-vehicle parameters for this purpose. Twenty subjects participated in three consecutive driving sessions on the simulated 4-lane highway from Seoul to Cheonan, Korea, during which their PERCLOS (percentage of eye closure) data, assumed to be a true indicator of a driver's unmasked sleepiness, i.e., drowsiness, were monitored. Correlations between PERCLOS and the selected vehicle parameters, such as velocity RMSE (root-mean-square error), were analyzed while participants performed skill-based and rule-based driving tasks. The preliminary experimental results demonstrated that unmasked sleepiness, as indicated by PERCLOS, was not correlated with the selected vehicle parameters for skill-based tasks. Some rule-based tasks, such as VPVT (Visual Psychomotor Vigilance Task), showed significant correlations with masked and unmasked sleepiness, which shows that driver-vehicle data can potentially be used as a dynamic unmasked sleepiness indicator. More in-depth analysis is being conducted and is expected to be included in the final version of the manuscript.
{"title":"Preliminary analysis of full-scale driving simulator data for unmasked sleepiness detection","authors":"J. H. Yang, Hong Joon Yoon, Woon-Sung Lee","doi":"10.1109/IVS.2014.6856520","DOIUrl":"https://doi.org/10.1109/IVS.2014.6856520","url":null,"abstract":"A driver can mask his sleepiness. This study aims to determine effective and reliable indications of a driver's unmasked sleepiness using driver-vehicle data. A Bayesian approach and the signal detection theory were applied to investigate the effectiveness of selected driver-vehicle parameters for this purpose. Twenty subjects participated in three consecutive driving sessions on the simulated 4-lane highway from Seoul to Cheonan, Korea, during which their PERCLOS (percentage of eye closure) data, assumed to be a true indicator of a driver's unmasked sleepiness, i.e., drowsiness, were monitored. Correlations between PERCLOS and the selected vehicle parameters, such as velocity RMSE (root-mean-square error), were analyzed while participants performed skill-based and rule-based driving tasks. The preliminary experimental results demonstrated that unmasked sleepiness, as indicated by PERCLOS, was not correlated with the selected vehicle parameters for skill-based tasks. Some rule-based tasks, such as VPVT (Visual Psychomotor Vigilance Task), showed significant correlations with masked and unmasked sleepiness, which shows that driver-vehicle data can potentially be used as a dynamic unmasked sleepiness indicator. More in-depth analysis is being conducted and is expected to be included in the final version of the manuscript.","PeriodicalId":254500,"journal":{"name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114460342","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-08DOI: 10.1109/IVS.2014.6856452
J. J. Torres, L. Bergasa, R. Arroyo, Alberto Lazaro
This paper carries out a discussion on the supervised learning of a car detector built as a Discriminative Part-based Model (DPM) from images in the recently published KITTI benchmark suite as part of the object detection and orientation estimation challenge. We present a wide set of experiments and many hints on the different ways to supervise and enhance the well-known DPM on a challenging and naturalistic urban dataset as KITTI. The evaluation algorithm and metrics, the selection of a clean but representative subset of training samples and the DPM tuning are key factors to learn an object detector in a supervised fashion. We provide evidence of subtle differences in performance depending on these aspects. Besides, the generalization of the trained models to an independent dataset is validated by 5-fold cross-validation.
本文讨论了基于判别部分模型(Discriminative part -based Model, DPM)的汽车检测器的监督学习，该模型是根据最近发布的KITTI基准套件中的图像构建的，作为目标检测和方向估计挑战的一部分。我们提出了一组广泛的实验和许多不同的方法来监督和增强众所周知的DPM在一个具有挑战性和自然的城市数据集KITTI上。评估算法和指标，选择干净但具有代表性的训练样本子集以及DPM调优是以监督方式学习目标检测器的关键因素。我们根据这些方面提供了性能上细微差异的证据。此外，通过5次交叉验证验证了训练模型对独立数据集的泛化能力。
{"title":"Supervised learning and evaluation of KITTI's cars detector with DPM","authors":"J. J. Torres, L. Bergasa, R. Arroyo, Alberto Lazaro","doi":"10.1109/IVS.2014.6856452","DOIUrl":"https://doi.org/10.1109/IVS.2014.6856452","url":null,"abstract":"This paper carries out a discussion on the supervised learning of a car detector built as a Discriminative Part-based Model (DPM) from images in the recently published KITTI benchmark suite as part of the object detection and orientation estimation challenge. We present a wide set of experiments and many hints on the different ways to supervise and enhance the well-known DPM on a challenging and naturalistic urban dataset as KITTI. The evaluation algorithm and metrics, the selection of a clean but representative subset of training samples and the DPM tuning are key factors to learn an object detector in a supervised fashion. We provide evidence of subtle differences in performance depending on these aspects. Besides, the generalization of the trained models to an independent dataset is validated by 5-fold cross-validation.","PeriodicalId":254500,"journal":{"name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127831791","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-08DOI: 10.1109/IVS.2014.6856574
M. Marouf, Evangeline Pollard, F. Nashashibi
In car-sharing applications and during certain time slots, some parking parks become full whereas others are empty. To redress this imbalance, vehicle redistribution strategies must be elaborated. As automatic relocation cannot be in place, one alternative is to get a leader vehicle, driven by a human, which come to pick up and drop off vehicles over the stations. This paper deals with the vehicle redistribution problem among parking using this strategy and focuses on automatic parking and vehicle's platooning. We present an easy exit parking controller and path planning based only on geometric approach and vehicle's characteristics. Once the vehicle exits the parking, it joins a platoon of vehicles and follows it automatically to go to an empty parking space.
{"title":"Automatic parallel parking and platooning to redistribute electric vehicles in a car-sharing application","authors":"M. Marouf, Evangeline Pollard, F. Nashashibi","doi":"10.1109/IVS.2014.6856574","DOIUrl":"https://doi.org/10.1109/IVS.2014.6856574","url":null,"abstract":"In car-sharing applications and during certain time slots, some parking parks become full whereas others are empty. To redress this imbalance, vehicle redistribution strategies must be elaborated. As automatic relocation cannot be in place, one alternative is to get a leader vehicle, driven by a human, which come to pick up and drop off vehicles over the stations. This paper deals with the vehicle redistribution problem among parking using this strategy and focuses on automatic parking and vehicle's platooning. We present an easy exit parking controller and path planning based only on geometric approach and vehicle's characteristics. Once the vehicle exits the parking, it joins a platoon of vehicles and follows it automatically to go to an empty parking space.","PeriodicalId":254500,"journal":{"name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126526662","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-08DOI: 10.1109/IVS.2014.6856527
Sho Sakakibara, Reiki Kusakari, K. Ohno, M. Itami
In the current inter-vehicle communication (IVC) systems such as IEEE802.11p, the CSMA/CA scheme for the MAC scheme and the OFDM for the modulation scheme are most commonly used for the media access scheme and the modulation scheme respectively. These systems are assumed to be used in the application such as safety driving assistance, reducing traffic congestions and so on. On the other hand, since the required application in ITS must cover various field, development of the inter-vehicle communication scheme that has different characteristics from IEEE802.11p for high speed and large capacity data transmission is required for new applications such short range ad hoc network without base stations. In this paper, a new DS-CDMA IVC system using successive interference canceller (SIC) is proposed and its performance is compared with the CSMA/OFDM IVC. As the result of simulation, in the broad cast based wide range IVC, the CSMA/OFDM system can achieve better packet error rate (PER) performance than the proposed DS-CDMA IVC system. On the other hand, it was confirmed that the proposed DS-CDMA IVC system has better packet error rate performance with short latencies in the short range IVC where many short packets are exchange between vehicles.
{"title":"Performance comparison between DS-CDMA IVC using SIC and CSMA/OFDM IVC under dense traffic situation","authors":"Sho Sakakibara, Reiki Kusakari, K. Ohno, M. Itami","doi":"10.1109/IVS.2014.6856527","DOIUrl":"https://doi.org/10.1109/IVS.2014.6856527","url":null,"abstract":"In the current inter-vehicle communication (IVC) systems such as IEEE802.11p, the CSMA/CA scheme for the MAC scheme and the OFDM for the modulation scheme are most commonly used for the media access scheme and the modulation scheme respectively. These systems are assumed to be used in the application such as safety driving assistance, reducing traffic congestions and so on. On the other hand, since the required application in ITS must cover various field, development of the inter-vehicle communication scheme that has different characteristics from IEEE802.11p for high speed and large capacity data transmission is required for new applications such short range ad hoc network without base stations. In this paper, a new DS-CDMA IVC system using successive interference canceller (SIC) is proposed and its performance is compared with the CSMA/OFDM IVC. As the result of simulation, in the broad cast based wide range IVC, the CSMA/OFDM system can achieve better packet error rate (PER) performance than the proposed DS-CDMA IVC system. On the other hand, it was confirmed that the proposed DS-CDMA IVC system has better packet error rate performance with short latencies in the short range IVC where many short packets are exchange between vehicles.","PeriodicalId":254500,"journal":{"name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123469303","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-08DOI: 10.1109/IVS.2014.6856394
Valentin Protschky, Kevin Wiesner, S. Feit
Current fields of research in the automotive sector are dealing with the development of new driving-assistance-functions that aim to improve security, efficiency and comfort of vehicles. A significant field of study represents the prediction of traffic signals ahead that enable innovative functionalities such as Green Light Optimal Speed Advisory (GLOSA) or efficient start-stop control. This paper deals with the challenges of predicting future signals of traffic-adaptive traffic lights. First of all, we extract important characteristics of adaptive traffic lights and the underlying traffic situation at crossings relying on historical data of several Munich traffic lights. Based on these insights, we present and evaluate a generic model to predict future traffic-adaptive traffic signals at crossings. We show that with the proposed model, 95% of future signals can be predicted with an accuracy of 95% at best. On average, 71% of future signals can be predicted with an accuracy of 95% for the considered traffic lights.
{"title":"Adaptive traffic light prediction via Kalman filtering","authors":"Valentin Protschky, Kevin Wiesner, S. Feit","doi":"10.1109/IVS.2014.6856394","DOIUrl":"https://doi.org/10.1109/IVS.2014.6856394","url":null,"abstract":"Current fields of research in the automotive sector are dealing with the development of new driving-assistance-functions that aim to improve security, efficiency and comfort of vehicles. A significant field of study represents the prediction of traffic signals ahead that enable innovative functionalities such as Green Light Optimal Speed Advisory (GLOSA) or efficient start-stop control. This paper deals with the challenges of predicting future signals of traffic-adaptive traffic lights. First of all, we extract important characteristics of adaptive traffic lights and the underlying traffic situation at crossings relying on historical data of several Munich traffic lights. Based on these insights, we present and evaluate a generic model to predict future traffic-adaptive traffic signals at crossings. We show that with the proposed model, 95% of future signals can be predicted with an accuracy of 95% at best. On average, 71% of future signals can be predicted with an accuracy of 95% for the considered traffic lights.","PeriodicalId":254500,"journal":{"name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131343865","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-08DOI: 10.1109/IVS.2014.6856431
Carlos Massera Filho, D. Wolf, V. Grassi, F. Osório
Robust and stable control is a requirement for navigation of self-driving cars. Some approaches in the literature depend on a high number of parameters that are often difficult to estimate. A poor selection of these parameters often reduces considerably the efficiency of the control algorithms. In this paper we propose a simplified control system for autonomous vehicles that depends on a reduced number of parameters that can be easily set. This control system is composed of longitudinal and lateral controllers. The longitudinal controller is responsible for regulating the vehicle's cruise velocity while the lateral controller steers the vehicle's wheels for path tracking. Simulated and experimental tests have been carried out with the CaRINA II platform in the university campus with positive results.
{"title":"Longitudinal and lateral control for autonomous ground vehicles","authors":"Carlos Massera Filho, D. Wolf, V. Grassi, F. Osório","doi":"10.1109/IVS.2014.6856431","DOIUrl":"https://doi.org/10.1109/IVS.2014.6856431","url":null,"abstract":"Robust and stable control is a requirement for navigation of self-driving cars. Some approaches in the literature depend on a high number of parameters that are often difficult to estimate. A poor selection of these parameters often reduces considerably the efficiency of the control algorithms. In this paper we propose a simplified control system for autonomous vehicles that depends on a reduced number of parameters that can be easily set. This control system is composed of longitudinal and lateral controllers. The longitudinal controller is responsible for regulating the vehicle's cruise velocity while the lateral controller steers the vehicle's wheels for path tracking. Simulated and experimental tests have been carried out with the CaRINA II platform in the university campus with positive results.","PeriodicalId":254500,"journal":{"name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116434749","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-06-08DOI: 10.1109/IVS.2014.6856560
Julius Ziegler, Henning Lategahn, M. Schreiber, C. G. Keller, Carsten Knöppel, Jochen Hipp, M. Haueis, C. Stiller
In August 2013, the modified Mercedes-Benz SClass S500 Intelligent Drive (“Bertha”) completed the historic Bertha-Benz-Memorial-Route fully autonomously. The self-driving 103 km journey passed through urban and rural areas. The system used detailed geometric maps to supplement its online perception systems. A map based approach is only feasible if a precise, map relative localization is provided. The purpose of this paper is to give a survey on this corner stone of the system architecture. Two supplementary vision based localization methods have been developed. One of them is based on the detection of lane markings and similar road elements, the other exploits descriptors for point shaped features. A final filter step combines both estimates while handling out-of-sequence measurements correctly.
2013年8月，经过改装的梅赛德斯-奔驰SClass S500 Intelligent Drive(“Bertha”)完成了历史性的Bertha- benz - memorial - route。这段103公里的自驾游穿越了城市和农村地区。该系统使用详细的几何地图来补充其在线感知系统。基于地图的方法只有在提供精确的地图相对定位时才可行。本文的目的是对系统架构的这一基石进行概述。已经开发了两种辅助的基于视觉的定位方法。其中一种是基于车道标记和类似道路元素的检测，另一种是利用点形状特征的描述符。最后一个过滤步骤将两个估计结合起来，同时正确处理无序的测量。
{"title":"Video based localization for Bertha","authors":"Julius Ziegler, Henning Lategahn, M. Schreiber, C. G. Keller, Carsten Knöppel, Jochen Hipp, M. Haueis, C. Stiller","doi":"10.1109/IVS.2014.6856560","DOIUrl":"https://doi.org/10.1109/IVS.2014.6856560","url":null,"abstract":"In August 2013, the modified Mercedes-Benz SClass S500 Intelligent Drive (“Bertha”) completed the historic Bertha-Benz-Memorial-Route fully autonomously. The self-driving 103 km journey passed through urban and rural areas. The system used detailed geometric maps to supplement its online perception systems. A map based approach is only feasible if a precise, map relative localization is provided. The purpose of this paper is to give a survey on this corner stone of the system architecture. Two supplementary vision based localization methods have been developed. One of them is based on the detection of lane markings and similar road elements, the other exploits descriptors for point shaped features. A final filter step combines both estimates while handling out-of-sequence measurements correctly.","PeriodicalId":254500,"journal":{"name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132450347","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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