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.2004.1336414
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}
Pub Date : 2004-06-14DOI: 10.1109/IVS.2004.1336397
S. Nedevschi, R. Danescu, D. Frentiu, T. Mariţa, F. Oniga, C. Pocol, R. Schmidt, T. Graf
This paper presents a high accuracy stereo vision system for obstacle detection and vehicle environment perception in a large variety of traffic scenarios, from highway to urban. The system detects obstacles of all types, even at high distance, outputting them as a list of cuboids having a position in 3D coordinates, size and speed.
{"title":"High accuracy stereo vision system for far distance obstacle detection","authors":"S. Nedevschi, R. Danescu, D. Frentiu, T. Mariţa, F. Oniga, C. Pocol, R. Schmidt, T. Graf","doi":"10.1109/IVS.2004.1336397","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336397","url":null,"abstract":"This paper presents a high accuracy stereo vision system for obstacle detection and vehicle environment perception in a large variety of traffic scenarios, from highway to urban. The system detects obstacles of all types, even at high distance, outputting them as a list of cuboids having a position in 3D coordinates, size and speed.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"74 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":"127979477","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.2004.1336428
M. Tideman, M. van der Voort, F. van Houten
When a customer buys a new car, he or she wants it to address personal preferences with respect to its driving behavior. By utilizing virtual reality technology, a virtual prototyping environment (VPE) can be created in which the behavior of a vehicle or part of a vehicle can be evaluated and adjusted to match the driver's desires. This paper describes the design and the evaluation of a VPE for manually operated gearboxes. The test group considered the simulated "virtual" gearshift feel to be quite similar to the "real" gearshift feel of a test vehicle. By further developing this VPE, it should become possible to define gearshift feel by customer assessment through haptic simulation, after which the physical gearbox is designed in such a way that it matches the preferred shifting behavior.
{"title":"Design and evaluation of a virtual gearshift application","authors":"M. Tideman, M. van der Voort, F. van Houten","doi":"10.1109/IVS.2004.1336428","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336428","url":null,"abstract":"When a customer buys a new car, he or she wants it to address personal preferences with respect to its driving behavior. By utilizing virtual reality technology, a virtual prototyping environment (VPE) can be created in which the behavior of a vehicle or part of a vehicle can be evaluated and adjusted to match the driver's desires. This paper describes the design and the evaluation of a VPE for manually operated gearboxes. The test group considered the simulated \"virtual\" gearshift feel to be quite similar to the \"real\" gearshift feel of a test vehicle. By further developing this VPE, it should become possible to define gearshift feel by customer assessment through haptic simulation, after which the physical gearbox is designed in such a way that it matches the preferred shifting behavior.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"57 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":"125706517","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.2004.1336493
K. Lee, W. S. Wijesoma, J. Ibañez-Guzmán
Robust and accurate localization is a very important issue for the application of smart vehicles in neighbourhood environments such as theme parks, industrial estates, university campuses, etc. Conventional and classical approaches based on global positioning system (GPS) when used in closed spaces like neighbourhood environments pose problems due to signal blockages and multiple path effects. Feature based localization techniques suffer from feature detection failures, especially when features are sparse or not recognisable. Dead reckoning and inertial methods have to deal with the problem of drift in the sensors to be able to localize reliably over long periods of operation. To localize a vehicle reliably, robustly and accurately, a framework that enables the fusion of the different localization techniques is thus required, for this purpose, a road network topology constrained unified localization scheme is proposed based on the general Bayesian probabilistic estimation theoretic framework. The experimental results obtained from a vehicle driven in a large neighbourhood environment are presented to demonstrate the effectiveness of the proposed methodology.
{"title":"Map aided SLAM in neighbourhood environments","authors":"K. Lee, W. S. Wijesoma, J. Ibañez-Guzmán","doi":"10.1109/IVS.2004.1336493","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336493","url":null,"abstract":"Robust and accurate localization is a very important issue for the application of smart vehicles in neighbourhood environments such as theme parks, industrial estates, university campuses, etc. Conventional and classical approaches based on global positioning system (GPS) when used in closed spaces like neighbourhood environments pose problems due to signal blockages and multiple path effects. Feature based localization techniques suffer from feature detection failures, especially when features are sparse or not recognisable. Dead reckoning and inertial methods have to deal with the problem of drift in the sensors to be able to localize reliably over long periods of operation. To localize a vehicle reliably, robustly and accurately, a framework that enables the fusion of the different localization techniques is thus required, for this purpose, a road network topology constrained unified localization scheme is proposed based on the general Bayesian probabilistic estimation theoretic framework. The experimental results obtained from a vehicle driven in a large neighbourhood environment are presented to demonstrate the effectiveness of the proposed methodology.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"220 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":"125849793","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.2004.1336391
J. Kolodko, L. Vlacic
We introduce a motion estimation algorithm that fuses visual and range data to give an unambiguous estimate of the velocity of objects visible to a camera and range sensor. Dynamic scale space is used to avoid temporal aliasing and a novel robust estimator based on Least Trimmed Squares is used to smooth results between boundaries established using range data. Simulation results (from a specially developed simulation environment) and experimental results (from an FPGA based implementation of our algorithm) show that our approach gives accurate motion estimates.
{"title":"Fusion of range and vision for real-time motion estimation","authors":"J. Kolodko, L. Vlacic","doi":"10.1109/IVS.2004.1336391","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336391","url":null,"abstract":"We introduce a motion estimation algorithm that fuses visual and range data to give an unambiguous estimate of the velocity of objects visible to a camera and range sensor. Dynamic scale space is used to avoid temporal aliasing and a novel robust estimator based on Least Trimmed Squares is used to smooth results between boundaries established using range data. Simulation results (from a specially developed simulation environment) and experimental results (from an FPGA based implementation of our algorithm) show that our approach gives accurate motion estimates.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"81 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":"114458750","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.2004.1336459
A. Miene, Andreas D. Lattner, Ubbo Visser, O. Herzog
Planning, acting, and recognizing intentions of participants in traffic situations requires the processing of complex spatio-temporal situations. If spatio-temporal information was represented quantitatively it would result in a huge amount of data. We claim that an abstraction to a qualitative description leads to more stable representations as similar situations at the quantitative level are mapped to one qualitative representation. Our approach is evaluated by emulating traffic situations with settings in the Robocup small-sized league.
{"title":"Dynamic-preserving qualitative motion description for intelligent vehicles","authors":"A. Miene, Andreas D. Lattner, Ubbo Visser, O. Herzog","doi":"10.1109/IVS.2004.1336459","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336459","url":null,"abstract":"Planning, acting, and recognizing intentions of participants in traffic situations requires the processing of complex spatio-temporal situations. If spatio-temporal information was represented quantitatively it would result in a huge amount of data. We claim that an abstraction to a qualitative description leads to more stable representations as similar situations at the quantitative level are mapped to one qualitative representation. Our approach is evaluated by emulating traffic situations with settings in the Robocup small-sized league.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"13 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":"121437814","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.2004.1336478
Chu Jiangwei, Jin Lisheng, Guo Lie, Libibing, Wang Rongben
This article describes systemically the method of detecting the preceding vehicle based on a monocular camera. The main content is as follows: first, a primary area of interest is found by the lane borderlines that are identified in a camera image, and a likelihood target vehicle is searched by the gray difference between the target vehicle and the background; second, an identifying area of interest is found again based on the area of a likelihood target vehicle, a target vehicle is affirmed by a symmetry character of the vehicle outline and a position of the vehicle symmetrical axis is ascertained; third, the object vehicle is tracked by Kalman forecast principle in the sequence images; fourth, a method of detecting distance in a frame of image is introduced. The calibration of the camera's interior parameters and the results of some experiments are given.
{"title":"Study on method of detecting preceding vehicle based on monocular camera","authors":"Chu Jiangwei, Jin Lisheng, Guo Lie, Libibing, Wang Rongben","doi":"10.1109/IVS.2004.1336478","DOIUrl":"https://doi.org/10.1109/IVS.2004.1336478","url":null,"abstract":"This article describes systemically the method of detecting the preceding vehicle based on a monocular camera. The main content is as follows: first, a primary area of interest is found by the lane borderlines that are identified in a camera image, and a likelihood target vehicle is searched by the gray difference between the target vehicle and the background; second, an identifying area of interest is found again based on the area of a likelihood target vehicle, a target vehicle is affirmed by a symmetry character of the vehicle outline and a position of the vehicle symmetrical axis is ascertained; third, the object vehicle is tracked by Kalman forecast principle in the sequence images; fourth, a method of detecting distance in a frame of image is introduced. The calibration of the camera's interior parameters and the results of some experiments are given.","PeriodicalId":296386,"journal":{"name":"IEEE Intelligent Vehicles Symposium, 2004","volume":"68 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":"127796980","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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