Pub Date : 2015-11-01DOI: 10.1109/ICVES.2015.7396892
Marcus Larsson, Fredrik Warg, K. Karlsson, M. Jonsson
In this paper we present a novel message forwarding algorithm, the reachability matrix algorithm, for V2V communication in a platooning scenario. The algorithm uses a communication quality estimate to determine appropriate forwarding candidates. We show that the algorithm achieve a higher reliability in the communication compared to only using broadcast but still keeping the message intensity at a low level. The reachability matrix algorithm can decrease the ratio of missing a data age limit of 0.2 seconds from 18% to 11%, a decrease of 40%, while increasing the message intensity by only 21% compared to only using broadcast. The evaluation has been performed through simulation using input from real-life V2V measurements on heavy duty trucks in a platooning scenario.
{"title":"Evaluation of a low-overhead forwarding algorithm for platooning","authors":"Marcus Larsson, Fredrik Warg, K. Karlsson, M. Jonsson","doi":"10.1109/ICVES.2015.7396892","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396892","url":null,"abstract":"In this paper we present a novel message forwarding algorithm, the reachability matrix algorithm, for V2V communication in a platooning scenario. The algorithm uses a communication quality estimate to determine appropriate forwarding candidates. We show that the algorithm achieve a higher reliability in the communication compared to only using broadcast but still keeping the message intensity at a low level. The reachability matrix algorithm can decrease the ratio of missing a data age limit of 0.2 seconds from 18% to 11%, a decrease of 40%, while increasing the message intensity by only 21% compared to only using broadcast. The evaluation has been performed through simulation using input from real-life V2V measurements on heavy duty trucks in a platooning scenario.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115246632","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396927
Tianyi Guan, C. Frey
Energy efficiency has become a major issue in trade, transportation and environment protection. While the next generation of zero emission propulsion systems still have difficulties in reaching similar travel distances as combustion engine propulsion systems, it is already possible to increase fuel efficiency in regular vehicles by applying a more fuel efficient driving behaviour. An adapted Dynamic Programming approach is used to calculate optimal behaviour profiles for the road ahead within a finite optimization horizon. The main purpose of this publication is the development of a strategy to reuse historic minimal costs in order to reduce the computational complexity of future optimization steps. The percent reduction is deterministic and increases with the discretization degree of the optimization horizon.
{"title":"Reuse historic costs in dynamic programming to reduce computational complexity in the context of model predictive optimization","authors":"Tianyi Guan, C. Frey","doi":"10.1109/ICVES.2015.7396927","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396927","url":null,"abstract":"Energy efficiency has become a major issue in trade, transportation and environment protection. While the next generation of zero emission propulsion systems still have difficulties in reaching similar travel distances as combustion engine propulsion systems, it is already possible to increase fuel efficiency in regular vehicles by applying a more fuel efficient driving behaviour. An adapted Dynamic Programming approach is used to calculate optimal behaviour profiles for the road ahead within a finite optimization horizon. The main purpose of this publication is the development of a strategy to reuse historic minimal costs in order to reduce the computational complexity of future optimization steps. The percent reduction is deterministic and increases with the discretization degree of the optimization horizon.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115447411","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396899
Ryo Gohara, H. Premachandra, Kiyotaka Kato
Various studies have been conducted regarding road obstacle detection and avoidance, but very few studies deal with the detection and avoidance of obstacles that suddenly and unexpectedly appear during vehicle operation. Therefore, we have been conducting studies on problem of detecting suddenly and unexpectedly appear obstacles. As an extension stage of those studies, this paper presents about automatic smooth stopping of vehicle using a fuzzy control system. The proposed system conducts stopping control of the vehicle depending on the distance to the obstacle and vehicle speed when obstacle is detected. The simulation experiments and actual experiments using a mobile robot on behalf of a vehicle were conducted regarding the proposal.
{"title":"A study on smooth automatic vehicle stopping control for suddenly-appeared obstacles","authors":"Ryo Gohara, H. Premachandra, Kiyotaka Kato","doi":"10.1109/ICVES.2015.7396899","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396899","url":null,"abstract":"Various studies have been conducted regarding road obstacle detection and avoidance, but very few studies deal with the detection and avoidance of obstacles that suddenly and unexpectedly appear during vehicle operation. Therefore, we have been conducting studies on problem of detecting suddenly and unexpectedly appear obstacles. As an extension stage of those studies, this paper presents about automatic smooth stopping of vehicle using a fuzzy control system. The proposed system conducts stopping control of the vehicle depending on the distance to the obstacle and vehicle speed when obstacle is detected. The simulation experiments and actual experiments using a mobile robot on behalf of a vehicle were conducted regarding the proposal.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123239595","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396889
Jaewoong Ko, Juho Lee, Chulsung Park, Sungkown Park
The existing In-Vehicle Network (IVN) is hard to support multimedia/infotainment service because it does not have enough bandwidth. In order to solve this problem, IEEE 802.1 Time Sensitive Network (TSN) has been developed. TSN standard defines the scheduled traffic which is based on the time-triggered communication. But the details of transmission period and Maximum Transmit Unit (MTU) size of the scheduled traffic have not been defined yet. In this paper, we simulated several cases in order to decide the optimal bandwidth allocation ratio for the scheduled traffic by adjusting scheduled traffic's MTU size.
现有车载网络(IVN)带宽不足，难以支持多媒体/信息娱乐服务。为了解决这一问题，IEEE 802.1时间敏感网络(TSN)应运而生。TSN标准定义了基于时间触发通信的计划流量。但是关于调度流量的传输周期和最大传输单元(Maximum Transmit Unit, MTU)大小的详细信息还没有定义。在本文中，我们模拟了几种情况，通过调整计划流量的MTU大小来确定计划流量的最佳带宽分配比例。
{"title":"Research on optimal bandwidth allocation for the scheduled traffic in ieee 802.1 AVB","authors":"Jaewoong Ko, Juho Lee, Chulsung Park, Sungkown Park","doi":"10.1109/ICVES.2015.7396889","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396889","url":null,"abstract":"The existing In-Vehicle Network (IVN) is hard to support multimedia/infotainment service because it does not have enough bandwidth. In order to solve this problem, IEEE 802.1 Time Sensitive Network (TSN) has been developed. TSN standard defines the scheduled traffic which is based on the time-triggered communication. But the details of transmission period and Maximum Transmit Unit (MTU) size of the scheduled traffic have not been defined yet. In this paper, we simulated several cases in order to decide the optimal bandwidth allocation ratio for the scheduled traffic by adjusting scheduled traffic's MTU size.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123534272","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396901
Stefano Mafrica, Alain Servel, F. Ruffier
Although several (semi-) automatic parking systems have been presented throughout the years [1]-[12], car manufacturers are still looking for low-cost sensors providing redundant information about the obstacles around the vehicle, as well as efficient methods of processing this information, in the hope of achieving a very high level of robustness. We therefore investigated how Local Motion Sensors (LMSs) [13], [14], comprising only of a few pixels giving 1-D optical flow (OF) measurements could be used to improve automatic parking maneuvers. For this purpose, we developed a low computational- cost method of detecting and tracking a parking spot in real time using 1-D OF measurements around the vehicle as well as the vehicle's longitudinal velocity and steering angle. The algorithm used was composed of 5 processing steps, which will be described here in detail. In this initial report, we will first present some results obtained in a highly simplified 2-D parking simulation performed using Matlab/Simulink software, before giving some preliminary experimental results obtained with the first step in the algorithm in the case of a vehicle equipped with two 6- pixel LMSs. The results of the closed-loop simulation show that up to a certain noise level, the simulated vehicle detected and tracked the parking-spot assessment in real time. The preliminary experimental results show that the average refresh frequency obtained with the LMSs was about 2-3 times higher than that obtained with standard ultrasonic sensors and cameras, and that these LMSs therefore constitute a promising alternative basis for designing new automatic parking systems.
{"title":"Towards an automatic parking system using bio-inspired 1-D optical flow sensors","authors":"Stefano Mafrica, Alain Servel, F. Ruffier","doi":"10.1109/ICVES.2015.7396901","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396901","url":null,"abstract":"Although several (semi-) automatic parking systems have been presented throughout the years [1]-[12], car manufacturers are still looking for low-cost sensors providing redundant information about the obstacles around the vehicle, as well as efficient methods of processing this information, in the hope of achieving a very high level of robustness. We therefore investigated how Local Motion Sensors (LMSs) [13], [14], comprising only of a few pixels giving 1-D optical flow (OF) measurements could be used to improve automatic parking maneuvers. For this purpose, we developed a low computational- cost method of detecting and tracking a parking spot in real time using 1-D OF measurements around the vehicle as well as the vehicle's longitudinal velocity and steering angle. The algorithm used was composed of 5 processing steps, which will be described here in detail. In this initial report, we will first present some results obtained in a highly simplified 2-D parking simulation performed using Matlab/Simulink software, before giving some preliminary experimental results obtained with the first step in the algorithm in the case of a vehicle equipped with two 6- pixel LMSs. The results of the closed-loop simulation show that up to a certain noise level, the simulated vehicle detected and tracked the parking-spot assessment in real time. The preliminary experimental results show that the average refresh frequency obtained with the LMSs was about 2-3 times higher than that obtained with standard ultrasonic sensors and cameras, and that these LMSs therefore constitute a promising alternative basis for designing new automatic parking systems.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125779062","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396884
Chisa Takahasi, Y. Nakano, Y. Iribe, H. Kawanaka, K. Oguri
Japan is one of the leading country of the aging society. For traffic as well, the number of the traffic accidents caused by senior driver is increasing year by year. So we have to make countermeasure for it ahead of the other countries. Currently, Japanese government moved into actions for example to have the campaign for returning of the senior drivers' licenses, or oblige senior driver who doesn't want to return his/her license to take a driving lessons at the driving school each 3 years. But to resolve this problem, society have to take a radically -new way to support senior drivers they can drive much more safely. It would be help for the senior people to keep healthy life. We had to 2 activity. One was a questioner research to understand what type of the traffic situations have the possibility of the traffic accident caused by senior drivers. The result was, it likely to be better to prioritize supporting for the decreasing visual cognitive ability and judgment for the countermeasures. Secondly, we analyzed senior drivers driving test results using driving simulator to see whether there is any variability of the performance among in senior drivers, and also to see their driving ability tendency.
{"title":"Study of the senior driver's driving conscious against the specification traffic situation and driving behaviors","authors":"Chisa Takahasi, Y. Nakano, Y. Iribe, H. Kawanaka, K. Oguri","doi":"10.1109/ICVES.2015.7396884","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396884","url":null,"abstract":"Japan is one of the leading country of the aging society. For traffic as well, the number of the traffic accidents caused by senior driver is increasing year by year. So we have to make countermeasure for it ahead of the other countries. Currently, Japanese government moved into actions for example to have the campaign for returning of the senior drivers' licenses, or oblige senior driver who doesn't want to return his/her license to take a driving lessons at the driving school each 3 years. But to resolve this problem, society have to take a radically -new way to support senior drivers they can drive much more safely. It would be help for the senior people to keep healthy life. We had to 2 activity. One was a questioner research to understand what type of the traffic situations have the possibility of the traffic accident caused by senior drivers. The result was, it likely to be better to prioritize supporting for the decreasing visual cognitive ability and judgment for the countermeasures. Secondly, we analyzed senior drivers driving test results using driving simulator to see whether there is any variability of the performance among in senior drivers, and also to see their driving ability tendency.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121357646","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396903
T. Kawamura, T. Kashiwa, S. Imai, Yasutaka Kishimoto
In our previous work, we engaged in vehicle navigations system with UHF RF-ID system against low visible condition. During the winter, northern part of Japan, driving lane is covered with snow and ice and we sometime meet heavy snowfall. Occasionally, some drivers go out from their driving lane in low visible condition caused by snow storm. Our navigation system is made to prevent such traffic accidents with low visible condition. There are several studies related on lane departure warning and vehicle positioning with GPS, DSRC, and other technique. These systems have virtues and weakness for our circumstance. In this paper, we will discuss vehicle navigation for turn action in the intersection with data stored driving lane and related issues.
{"title":"Vehicle navigation in the intersection with data stored driving lane and UHF RF-ID system","authors":"T. Kawamura, T. Kashiwa, S. Imai, Yasutaka Kishimoto","doi":"10.1109/ICVES.2015.7396903","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396903","url":null,"abstract":"In our previous work, we engaged in vehicle navigations system with UHF RF-ID system against low visible condition. During the winter, northern part of Japan, driving lane is covered with snow and ice and we sometime meet heavy snowfall. Occasionally, some drivers go out from their driving lane in low visible condition caused by snow storm. Our navigation system is made to prevent such traffic accidents with low visible condition. There are several studies related on lane departure warning and vehicle positioning with GPS, DSRC, and other technique. These systems have virtues and weakness for our circumstance. In this paper, we will discuss vehicle navigation for turn action in the intersection with data stored driving lane and related issues.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127470795","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396890
Kenta Fukushima, Kousuke Matsushima
Many researches have worked for the development of automotive technologies, so as to realize a convenient and safety automotive society such as Advanced Safety Vehicle (ASV) and Traffic Monitoring System (TMS). As a result, traffic accidents have decreased as the years pass, and the number of the dead and injuries have been reduced. However, autonomous driving is not only required to detect bicycles around vehicles, but also expected to understand the behaviors of bicycles. In addition, since the proportion of bicycle accident shows a high percentage in the total traffic accident, it has been predicted an increase of the accident of the bicycle in the future. Therefore we propose a multi-directional bicycle recognition system using the distance information obtained by the stereo camera. In the proposed system, we divide the moving direction of the bicycle into three directions. In addition, we propose a robust feature extraction method on rotation in order to cope with the bicycle between each direction. Finally,we show the experimental results and verify the effectiveness of the proposed method.
{"title":"Robust multi-directional bicycle recognition on the rotation using the stereo vision","authors":"Kenta Fukushima, Kousuke Matsushima","doi":"10.1109/ICVES.2015.7396890","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396890","url":null,"abstract":"Many researches have worked for the development of automotive technologies, so as to realize a convenient and safety automotive society such as Advanced Safety Vehicle (ASV) and Traffic Monitoring System (TMS). As a result, traffic accidents have decreased as the years pass, and the number of the dead and injuries have been reduced. However, autonomous driving is not only required to detect bicycles around vehicles, but also expected to understand the behaviors of bicycles. In addition, since the proportion of bicycle accident shows a high percentage in the total traffic accident, it has been predicted an increase of the accident of the bicycle in the future. Therefore we propose a multi-directional bicycle recognition system using the distance information obtained by the stereo camera. In the proposed system, we divide the moving direction of the bicycle into three directions. In addition, we propose a robust feature extraction method on rotation in order to cope with the bicycle between each direction. Finally,we show the experimental results and verify the effectiveness of the proposed method.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132279167","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396914
Luis Roldão, Joshué Pérez, D. González, V. M. Montero
The Cybernetic Transportation Systems (CTS) is an urban mobility concept based on two ideas: the car sharing and the automation of dedicated systems with door-todoor capabilities. In the last decade, many European projects have been developed in this context, where some of the most important are: Cybercars, Cybercars2, CyberMove, CyberC3 and CityMobil. Different companies have developed a first fleet of CTSs in collaboration with research centers around Europe, Asia and America. Considering these previous works, the FP7 project CityMobil2 is on progress since 2012. Its goal is to solve some of the limitations found so far, including the definition of the legal framework for autonomous vehicles on urban environment. This work describes the different improvements, adaptation and instrumentation of the CTS prototypes involved in European cities. Results show tests in our facilities at INRIARocquencourt (France) and the first showcase at Léon (Spain).
{"title":"Description and technical specifications of cybernetic transportation systems: an urban transportation concept","authors":"Luis Roldão, Joshué Pérez, D. González, V. M. Montero","doi":"10.1109/ICVES.2015.7396914","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396914","url":null,"abstract":"The Cybernetic Transportation Systems (CTS) is an urban mobility concept based on two ideas: the car sharing and the automation of dedicated systems with door-todoor capabilities. In the last decade, many European projects have been developed in this context, where some of the most important are: Cybercars, Cybercars2, CyberMove, CyberC3 and CityMobil. Different companies have developed a first fleet of CTSs in collaboration with research centers around Europe, Asia and America. Considering these previous works, the FP7 project CityMobil2 is on progress since 2012. Its goal is to solve some of the limitations found so far, including the definition of the legal framework for autonomous vehicles on urban environment. This work describes the different improvements, adaptation and instrumentation of the CTS prototypes involved in European cities. Results show tests in our facilities at INRIARocquencourt (France) and the first showcase at Léon (Spain).","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116910023","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 : 2015-11-01DOI: 10.1109/ICVES.2015.7396923
V. John, Qian Long, Zheng Liu, S. Mita
Perception of the environment is an important task for intelligent vehicles, and to effectively perceive the environment, multiple sensors are often employed. In this paper, we propose to integrate the perceived data from 3D LIDAR and stereo camera using particle swarm optimization algorithm, without the aid of any external calibration aids. The proposed optimisation algorithm automatically calibrates and registers the LIDAR range image and stereo depth image, as a precursor to the sensor fusion. Multiple parameters are optimised by adopting a model-based approach during the parameter estimation phase. The evaluation of the parameters is performed using a novel depth-based cost function. During the sensor fusion phase, the optimised parameters are used to generate the LIDAR range image, which functions as the disparity range image for the Viterbi-based stereo disparity estimation. The disparity range image constrains the Viterbi search during the stereo disparity estimation. To evaluate our proposed algorithm, the calibration and registration algorithm is compared with baseline algorithms on multiple datasets acquired with varying illuminations. Compared to the baseline algorithms, we show that our proposed algorithm demonstrates better accuracy. We also demonstrate that integrating the LIDAR range image within the stereo's disparity estimation results in an improved disparity map with significant reduction in the computational complexity.
{"title":"Automatic calibration and registration of lidar and stereo camera without calibration objects","authors":"V. John, Qian Long, Zheng Liu, S. Mita","doi":"10.1109/ICVES.2015.7396923","DOIUrl":"https://doi.org/10.1109/ICVES.2015.7396923","url":null,"abstract":"Perception of the environment is an important task for intelligent vehicles, and to effectively perceive the environment, multiple sensors are often employed. In this paper, we propose to integrate the perceived data from 3D LIDAR and stereo camera using particle swarm optimization algorithm, without the aid of any external calibration aids. The proposed optimisation algorithm automatically calibrates and registers the LIDAR range image and stereo depth image, as a precursor to the sensor fusion. Multiple parameters are optimised by adopting a model-based approach during the parameter estimation phase. The evaluation of the parameters is performed using a novel depth-based cost function. During the sensor fusion phase, the optimised parameters are used to generate the LIDAR range image, which functions as the disparity range image for the Viterbi-based stereo disparity estimation. The disparity range image constrains the Viterbi search during the stereo disparity estimation. To evaluate our proposed algorithm, the calibration and registration algorithm is compared with baseline algorithms on multiple datasets acquired with varying illuminations. Compared to the baseline algorithms, we show that our proposed algorithm demonstrates better accuracy. We also demonstrate that integrating the LIDAR range image within the stereo's disparity estimation results in an improved disparity map with significant reduction in the computational complexity.","PeriodicalId":325462,"journal":{"name":"2015 IEEE International Conference on Vehicular Electronics and Safety (ICVES)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128200257","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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