Pub Date : 2004-06-14DOI: 10.1109/IVS.2004.1336445
T. Gandhi, M. Trivedi
Omni-directional cameras which give 360 degree panoramic view of the surroundings and have recently been used in many applications such as robotics, navigation and surveillance. This paper describes the application of motion estimation on omni camera to perform surround analysis using an automobile mounted camera. The system detects and tracks the surrounding vehicles by compensating the ego-motion and detecting objects having independent motion. Prior knowledge about ego-motion and calibration is optimally combined with the information from the image gradients to get better motion compensation.
{"title":"Motion based vehicle surround analysis using an omni-directional camera","authors":"T. Gandhi, M. Trivedi","doi":"10.1109/IVS.2004.1336445","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336445","url":null,"abstract":"Omni-directional cameras which give 360 degree panoramic view of the surroundings and have recently been used in many applications such as robotics, navigation and surveillance. This paper describes the application of motion estimation on omni camera to perform surround analysis using an automobile mounted camera. The system detects and tracks the surrounding vehicles by compensating the ego-motion and detecting objects having independent motion. Prior knowledge about ego-motion and calibration is optimally combined with the information from the image gradients to get better motion compensation.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115165683","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 : 2004-06-14DOI: 10.1109/IVS.2004.1336407
S. Wender, O. Loehlein
Recently Viola et al. have described a fast and robust face detection system using Haar-Wavelet-like features, AdaBoost and a classifier cascade. This paper deals with some handicaps of AdaBoost and proposes some modifications to Viola's system. We then introduce a system for vehicle seat occupancy monitoring using an optical sensor.
{"title":"A cascade detector approach applied to vehicle occupant monitoring with an omni-directional camera","authors":"S. Wender, O. Loehlein","doi":"10.1109/IVS.2004.1336407","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336407","url":null,"abstract":"Recently Viola et al. have described a fast and robust face detection system using Haar-Wavelet-like features, AdaBoost and a classifier cascade. This paper deals with some handicaps of AdaBoost and proposes some modifications to Viola's system. We then introduce a system for vehicle seat occupancy monitoring using an optical sensor.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115438468","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 : 2004-06-14DOI: 10.1109/IVS.2004.1336357
Pini. Reisman Ofer, Mano Shai, Avidan Amnon
We present a real-time system that detects moving crowd in a video sequence. Crowd detection differs from pedestrian detection in that we assume that no individual pedestrian can be properly segmented in the image. We propose a scheme that looks at the motion patterns of crowd in the spatio-temporal domain and give an efficient implementation that can detect crowd in real-time. In our experiments we detected crowd at distances of up to 70 m.
{"title":"Crowd detection in video sequences","authors":"Pini. Reisman Ofer, Mano Shai, Avidan Amnon","doi":"10.1109/IVS.2004.1336357","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336357","url":null,"abstract":"We present a real-time system that detects moving crowd in a video sequence. Crowd detection differs from pedestrian detection in that we assume that no individual pedestrian can be properly segmented in the image. We propose a scheme that looks at the motion patterns of crowd in the spatio-temporal domain and give an efficient implementation that can detect crowd in real-time. In our experiments we detected crowd at distances of up to 70 m.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123672107","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 : 2004-06-14DOI: 10.1109/IVS.2004.1336437
I. Puhlmann, S. Schussler, B. Hulin
The paper describes the latest improvements in the video-based obstacle detection system developed at Deutsche Bahn AG (Germany's leading railway operator). The system automatically detects obstacles in the pantograph gauge at a distance of up to 70 m and retracts the pantograph before collision with an obstacle. Due to the multitude of similar-looking objects within an epipolar line, the algorithms developed gives false obstacle warnings in over 0.7% of the images. With recognition of steady arms, the reliability of the system is improved considerably. With a constant detection ratio, false obstacle warnings can be reduced by 28%.
{"title":"Improvements on obstacle detection in the pantograph gauge due to the recognition of steady arms","authors":"I. Puhlmann, S. Schussler, B. Hulin","doi":"10.1109/IVS.2004.1336437","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336437","url":null,"abstract":"The paper describes the latest improvements in the video-based obstacle detection system developed at Deutsche Bahn AG (Germany's leading railway operator). The system automatically detects obstacles in the pantograph gauge at a distance of up to 70 m and retracts the pantograph before collision with an obstacle. Due to the multitude of similar-looking objects within an epipolar line, the algorithms developed gives false obstacle warnings in over 0.7% of the images. With recognition of steady arms, the reliability of the system is improved considerably. With a constant detection ratio, false obstacle warnings can be reduced by 28%.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121776868","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 : 2004-06-14DOI: 10.1109/IVS.2004.1336392
Mingyu Yang, Qian Yu, Hong Wang, Bo Zhang
Pose estimation is one of the key issues in the research of intelligent vehicles. In this paper, a real-time pose estimation algorithm based on vision is proposed and implemented. The ground plane assumption is used to simplify the interframe motion model to a 2D plane motion model, which reduces the computation and avoids the difficulty in feature point selection in outdoor environments. This algorithm is composed of two parts: the Gradient Angle Histogram algorithm and the Iterative Gradient Closest Point algorithm. The fusion of these two algorithms successfully addresses the local minimum problem and the high computation problem with the ICP algorithm. Experimental results with both synthetic data and real data prove the high accuracy, low computation, and high robustness to outliers in this algorithm.
{"title":"Vision based real-time pose estimation for intelligent vehicles","authors":"Mingyu Yang, Qian Yu, Hong Wang, Bo Zhang","doi":"10.1109/IVS.2004.1336392","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336392","url":null,"abstract":"Pose estimation is one of the key issues in the research of intelligent vehicles. In this paper, a real-time pose estimation algorithm based on vision is proposed and implemented. The ground plane assumption is used to simplify the interframe motion model to a 2D plane motion model, which reduces the computation and avoids the difficulty in feature point selection in outdoor environments. This algorithm is composed of two parts: the Gradient Angle Histogram algorithm and the Iterative Gradient Closest Point algorithm. The fusion of these two algorithms successfully addresses the local minimum problem and the high computation problem with the ICP algorithm. Experimental results with both synthetic data and real data prove the high accuracy, low computation, and high robustness to outliers in this algorithm.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122556965","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 : 2004-06-14DOI: 10.1109/IVS.2004.1336370
S. Chaib, M. Netto, S. Mammar
We provide, in this paper an overview as well as a comparison of four controllers for the vehicle lateral control problem. H/sub /spl infin//, adaptive, fuzzy and PID controllers are compared by simulations over a test track circuit. Curvature and wind perturbations as well as variations on the speed and on the adherence coefficient are introduced in the simulations.
{"title":"H/sub /spl infin//, adaptive, PID and fuzzy control: a comparison of controllers for vehicle lane keeping","authors":"S. Chaib, M. Netto, S. Mammar","doi":"10.1109/IVS.2004.1336370","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336370","url":null,"abstract":"We provide, in this paper an overview as well as a comparison of four controllers for the vehicle lateral control problem. H/sub /spl infin//, adaptive, fuzzy and PID controllers are compared by simulations over a test track circuit. Curvature and wind perturbations as well as variations on the speed and on the adherence coefficient are introduced in the simulations.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125745016","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 : 2004-06-14DOI: 10.1109/IVS.2004.1336414
E. Bertolazzi, F. Biral, M. Da Lio
This work introduces a preliminary study on upcoming driver assistance systems based on Optimal Control. Systems of this kind are intended to monitor driver-vehicle behavior and environmental surroundings in order to warn the driver of possible dangerous situations, and work by constantly comparing the real vehicle maneuver to a recommended reference maneuver planned by optimal control. The latter (the optimal control reference maneuver) is based on safety criteria, in which a proper "risk function" is minimized. In this paper the case of "safe speed" is preliminarily addressed. The influence of different risk function formulations (for safe speed) on system performance is investigated. Simulations are carried out for a vehicle running along a S-shaped curve at constant speed, and the driving advices resulting from safe-optimal reference maneuvers are analyzed.
{"title":"Future advanced driver assistance systems based on Optimal Control: the influence of \"risk functions\" on overall system behavior and on prediction of dangerous situations","authors":"E. Bertolazzi, F. Biral, M. Da Lio","doi":"10.1109/IVS.2004.1336414","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336414","url":null,"abstract":"This work introduces a preliminary study on upcoming driver assistance systems based on Optimal Control. Systems of this kind are intended to monitor driver-vehicle behavior and environmental surroundings in order to warn the driver of possible dangerous situations, and work by constantly comparing the real vehicle maneuver to a recommended reference maneuver planned by optimal control. The latter (the optimal control reference maneuver) is based on safety criteria, in which a proper \"risk function\" is minimized. In this paper the case of \"safe speed\" is preliminarily addressed. The influence of different risk function formulations (for safe speed) on system performance is investigated. Simulations are carried out for a vehicle running along a S-shaped curve at constant speed, and the driving advices resulting from safe-optimal reference maneuvers are analyzed.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129305325","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}
Incident information transmission using an IVC (Inter-Vehicle Communication) system is one of the most important features in ITS in order to increase safety and efficiency of road traffic. In IVC systems that use a spread spectrum communication (SS) scheme, it is necessary for each vehicle to know the PN code used to receive information and more than two equivalent PN codes must not be used in one communication area to avoid interference. Therefore, an appropriate scheme to assign a PN code to each communication under limited number of available PN codes. Especially it is necessary to assign PN codes efficiently to transmit incident information because it is very important for safety and many information transmissions are expected under an incident situation. Performance of incident information transmission based on the IVC system that assigns a PN code used by each vehicle to the absolute location on the road is analyzed. As the result of computer simulations, good performance is confirmed.
{"title":"An analysis of incident information transmission performance using an IVC system that assigns PN codes to the locations on the road","authors":"Takahiro Inoue Hisayoshi Nakata Makoto Itami Kohji Itoh","doi":"10.1109/IVS.2004.1336366","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336366","url":null,"abstract":"Incident information transmission using an IVC (Inter-Vehicle Communication) system is one of the most important features in ITS in order to increase safety and efficiency of road traffic. In IVC systems that use a spread spectrum communication (SS) scheme, it is necessary for each vehicle to know the PN code used to receive information and more than two equivalent PN codes must not be used in one communication area to avoid interference. Therefore, an appropriate scheme to assign a PN code to each communication under limited number of available PN codes. Especially it is necessary to assign PN codes efficiently to transmit incident information because it is very important for safety and many information transmissions are expected under an incident situation. Performance of incident information transmission based on the IVC system that assigns a PN code used by each vehicle to the absolute location on the road is analyzed. As the result of computer simulations, good performance is confirmed.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129363632","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 : 2004-06-14DOI: 10.1109/IVS.2004.1336383
J. Bakambu, V. Polotski, P. Cohen
This paper describes an autonomous system for exploration and navigation within networks of tunnels, as those typically found in underground mines and caves. In the exploration mode, a remotely located supervisor instructs the system to move through successive sections of the network, gathering range data that is, then, concatenated into 2D/3D survey maps of the environment. In the navigation mode, the supervisor specifies high-level missions on the previously acquired survey maps. A motion planner, then, translates each mission into a set of consecutive navigation actions, separated by natural landmarks. Mission execution consists of detecting landmarks, self-localizing and performing the planned navigation actions.
{"title":"Autonomous system for exploration and navigation in drift networks","authors":"J. Bakambu, V. Polotski, P. Cohen","doi":"10.1109/IVS.2004.1336383","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336383","url":null,"abstract":"This paper describes an autonomous system for exploration and navigation within networks of tunnels, as those typically found in underground mines and caves. In the exploration mode, a remotely located supervisor instructs the system to move through successive sections of the network, gathering range data that is, then, concatenated into 2D/3D survey maps of the environment. In the navigation mode, the supervisor specifies high-level missions on the previously acquired survey maps. A motion planner, then, translates each mission into a set of consecutive navigation actions, separated by natural landmarks. Mission execution consists of detecting landmarks, self-localizing and performing the planned navigation actions.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129539971","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 : 2004-06-14DOI: 10.1109/IVS.2004.1336348
D. Gavrila, J. Giebel, S. Munder
This paper presents the results of the first large-scale field tests on vision-based pedestrian protection from a moving vehicle. Our PROTECTOR system combines pedestrian detection, trajectory estimation, risk assessment and driver warning. The paper pursues a "system approach" related to the detection component. An optimization scheme models the system as a succession of individual modules and finds a good overall parameter setting by combining individual ROCs using a convex-hull technique. On the experimental side, we present a methodology for the validation of the pedestrian detection performance in an actual vehicle setting. We hope this test methodology to contribute towards the establishment of benchmark testing, enabling this application to mature. We validate the PROTECTOR system using the proposed methodology and present interesting quantitative results based on tens of thousands of images from hours of driving. Although results are promising, more research is needed before such systems can be placed at the hands of ordinary vehicle drivers.
{"title":"Vision-based pedestrian detection: the PROTECTOR system","authors":"D. Gavrila, J. Giebel, S. Munder","doi":"10.1109/IVS.2004.1336348","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336348","url":null,"abstract":"This paper presents the results of the first large-scale field tests on vision-based pedestrian protection from a moving vehicle. Our PROTECTOR system combines pedestrian detection, trajectory estimation, risk assessment and driver warning. The paper pursues a \"system approach\" related to the detection component. An optimization scheme models the system as a succession of individual modules and finds a good overall parameter setting by combining individual ROCs using a convex-hull technique. On the experimental side, we present a methodology for the validation of the pedestrian detection performance in an actual vehicle setting. We hope this test methodology to contribute towards the establishment of benchmark testing, enabling this application to mature. We validate the PROTECTOR system using the proposed methodology and present interesting quantitative results based on tens of thousands of images from hours of driving. Although results are promising, more research is needed before such systems can be placed at the hands of ordinary vehicle drivers.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130167194","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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