Pub Date : 2005-06-06DOI: 10.1109/IVS.2005.1505195
R. Schweiger, Heiko Neumann, Werner Ritter
In this contribution we present a sensor data fusing concept utilizing particle filters. The investigation aims at the development of a robust and easy to extend approach, capable of combining the information of different sensors. We use the particle filters characteristics and introduce weighting functions that are multiplied during the measurement update stage of the particle filter implementation. The concept is demonstrated in a vehicle detection system that conjoins symmetry detection, tail lamp detection and radar measurements in night vision applications.
{"title":"Multiple-cue data fusion with particle filters for vehicle detection in night view automotive applications","authors":"R. Schweiger, Heiko Neumann, Werner Ritter","doi":"10.1109/IVS.2005.1505195","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505195","url":null,"abstract":"In this contribution we present a sensor data fusing concept utilizing particle filters. The investigation aims at the development of a robust and easy to extend approach, capable of combining the information of different sensors. We use the particle filters characteristics and introduce weighting functions that are multiplied during the measurement update stage of the particle filter implementation. The concept is demonstrated in a vehicle detection system that conjoins symmetry detection, tail lamp detection and radar measurements in night vision applications.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122019120","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505095
A. Watanabe, M. Nishida
In this paper, a lane detection algorithm for a steering assistance system (SAS) is introduced. Our aim is to develop a lane detection sensor that is sufficiently robust to enable it to be applied to the SAS without the need for application specific hardware. For this purpose, we simplify the process that groups detected edge points into lines, using a road surface with low resolution. Additionally, we use a method to select the correct lane boundary lines from multiple candidates using pattern matching for scenes where lane boundaries are complex. Our algorithm has been implemented on simple hardware consisting of a CMOS imager and two microprocessors.
{"title":"Lane detection for a steering assistance system","authors":"A. Watanabe, M. Nishida","doi":"10.1109/IVS.2005.1505095","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505095","url":null,"abstract":"In this paper, a lane detection algorithm for a steering assistance system (SAS) is introduced. Our aim is to develop a lane detection sensor that is sufficiently robust to enable it to be applied to the SAS without the need for application specific hardware. For this purpose, we simplify the process that groups detected edge points into lines, using a road surface with low resolution. Additionally, we use a method to select the correct lane boundary lines from multiple candidates using pattern matching for scenes where lane boundaries are complex. Our algorithm has been implemented on simple hardware consisting of a CMOS imager and two microprocessors.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125869385","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}
Variable illumination is a difficult problem for path mark detection of high-speed vision-based vehicle. It is vitally important to adopt an effective real-time method to solve the problem. In this paper a new grayscale image automatic thresholding algorithm is presented to segment the path mark from the image under different illumination conditions. The new method aims at enhancing its real-time performance which derives from Otsu automatic thresholding algorithm The experimental results show that the new improved algorithm dramatically reduces the operating time in image segmentation while ensures the final image segmentation quality.
{"title":"An improved Otsu image segmentation algorithm for path mark detection under variable illumination","authors":"Li-sheng Jin, Tian Lei, Rong-ben Wang, Guo Lie, Jiang-wei Chu","doi":"10.1109/IVS.2005.1505209","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505209","url":null,"abstract":"Variable illumination is a difficult problem for path mark detection of high-speed vision-based vehicle. It is vitally important to adopt an effective real-time method to solve the problem. In this paper a new grayscale image automatic thresholding algorithm is presented to segment the path mark from the image under different illumination conditions. The new method aims at enhancing its real-time performance which derives from Otsu automatic thresholding algorithm The experimental results show that the new improved algorithm dramatically reduces the operating time in image segmentation while ensures the final image segmentation quality.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127884507","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505115
I. Cabani, G. Toulminet, A. Bensrhair
In this article, we present a first approach in the conception of a vision system dedicated to the detection of vehicles in reduced visibility conditions. It is based on a self-adaptive stereo vision extractor of 3D edges or obstacle and a color detection of vehicle lights. The detection of vehicle lights uses the L*a*b* color space. The vision system detects three kinds of vehicle lights: rear lights and rear-brake-lights; flashing and warning lights; reverse lights and headlights.
{"title":"Color-based detection of vehicle lights","authors":"I. Cabani, G. Toulminet, A. Bensrhair","doi":"10.1109/IVS.2005.1505115","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505115","url":null,"abstract":"In this article, we present a first approach in the conception of a vision system dedicated to the detection of vehicles in reduced visibility conditions. It is based on a self-adaptive stereo vision extractor of 3D edges or obstacle and a color detection of vehicle lights. The detection of vehicle lights uses the L*a*b* color space. The vision system detects three kinds of vehicle lights: rear lights and rear-brake-lights; flashing and warning lights; reverse lights and headlights.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126440263","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505080
K. Fotiades, J. Seimenis
This paper presents a fast lane-changing vehicle algorithm for intelligent vehicle highway systems. With the use of S-series, an algorithm is formulated, resulting in a new and accurate method to calculate a low degree polynomial. In this process, an elementary path is initially assumed. A trigonometric approximation of this elementary path is subsequently introduced for the calculation of the related parameters. Bi-elementary paths are then used to project lane changing. Then vehicle control is analysed. The use of a clothoidal path presents more advantages: it permits regular curvature radius changes along the path, while keeping a constant passenger comfort level. This is achieved by a continuous monitoring of centrifugal acceleration through velocity control. Another advantage is the use of dual-rate estimation based on the Bezier function: obtaining Bezier control points through S-series is quite simple.
{"title":"Notice of Violation of IEEE Publication PrinciplesFast lane changing algorithm for intelligent vehicle highway systems using clothoidal theory and Bezier points","authors":"K. Fotiades, J. Seimenis","doi":"10.1109/IVS.2005.1505080","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505080","url":null,"abstract":"This paper presents a fast lane-changing vehicle algorithm for intelligent vehicle highway systems. With the use of S-series, an algorithm is formulated, resulting in a new and accurate method to calculate a low degree polynomial. In this process, an elementary path is initially assumed. A trigonometric approximation of this elementary path is subsequently introduced for the calculation of the related parameters. Bi-elementary paths are then used to project lane changing. Then vehicle control is analysed. The use of a clothoidal path presents more advantages: it permits regular curvature radius changes along the path, while keeping a constant passenger comfort level. This is achieved by a continuous monitoring of centrifugal acceleration through velocity control. Another advantage is the use of dual-rate estimation based on the Bezier function: obtaining Bezier control points through S-series is quite simple.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"86 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122078993","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505192
M. Kuwahara, S. Tanaka, M. Kano, M. Furukawa, K. Honda, K. Maruoka, T. Yamamoto, T. Shiraishi, H. Hanabusa, N. Webster
This study develops a microscopic traffic simulation model (KAKUMO), which is built into a mixed reality experiment system under an interactive traffic environment. We are developing a mixed reality experiment system to examine several human factors such as driving behavior and travel choice behavior, which are required to design and evaluate various ITS systems. The system is characterized by the environment, in which a driver, vehicles and infrastructure are dynamically interacting with each other. In this paper, we introduce the specification and performance of the micro simulation model, which is built into the prototype mixed reality system.
{"title":"An enhanced traffic simulation system for interactive traffic environment","authors":"M. Kuwahara, S. Tanaka, M. Kano, M. Furukawa, K. Honda, K. Maruoka, T. Yamamoto, T. Shiraishi, H. Hanabusa, N. Webster","doi":"10.1109/IVS.2005.1505192","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505192","url":null,"abstract":"This study develops a microscopic traffic simulation model (KAKUMO), which is built into a mixed reality experiment system under an interactive traffic environment. We are developing a mixed reality experiment system to examine several human factors such as driving behavior and travel choice behavior, which are required to design and evaluate various ITS systems. The system is characterized by the environment, in which a driver, vehicles and infrastructure are dynamically interacting with each other. In this paper, we introduce the specification and performance of the micro simulation model, which is built into the prototype mixed reality system.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126298412","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505189
S. Shanker, S. Mahmud
U.S federal and state governments invest millions of dollars for enforcing parking control in the metro city area. Tasks like parking enforcement, towing of illegally parked vehicles and maintenance require many man-hours and resources. The parking control and revenue system in the metro are essentially dependant on devices like coin or token based parking meters, which require the use of exact change and is therefore cumbersome. Also a patrol officer is required to monitor these spaces constantly. This entails the need for a more efficient and redundant system. In this paper, we propose an architecture for automated parking meter and driver assistance system that shall be connected to a centralized traffic control authority responsible for parking enforcement and toll collection. This system would provide a more efficient and redundant way of enforcing parking control and toll collection and also assist drivers in metro area for searching an available parking space. The above-mentioned architecture enables automated parking toll collection.
{"title":"An intelligent architecture for metropolitan area parking control and toll collection","authors":"S. Shanker, S. Mahmud","doi":"10.1109/IVS.2005.1505189","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505189","url":null,"abstract":"U.S federal and state governments invest millions of dollars for enforcing parking control in the metro city area. Tasks like parking enforcement, towing of illegally parked vehicles and maintenance require many man-hours and resources. The parking control and revenue system in the metro are essentially dependant on devices like coin or token based parking meters, which require the use of exact change and is therefore cumbersome. Also a patrol officer is required to monitor these spaces constantly. This entails the need for a more efficient and redundant system. In this paper, we propose an architecture for automated parking meter and driver assistance system that shall be connected to a centralized traffic control authority responsible for parking enforcement and toll collection. This system would provide a more efficient and redundant way of enforcing parking control and toll collection and also assist drivers in metro area for searching an available parking space. The above-mentioned architecture enables automated parking toll collection.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125949832","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505196
E. Binelli, A. Broggi, A. Fascioli, S. Ghidoni, P. Grisleri, Thorsten Dr. Graf, M. Meinecke
This paper describes a modular tracking system designed to improve the performance of a pedestrian detector. The tracking system consists of two modules, a labeler and a predictor. The former associates a tracking identifier to each pedestrian, keeping memory of the past history; this is achieved by merging the detector and predictor outputs combined with data about vehicle motion. The predictor, basically a Kalman filter, estimates the new pedestrian position by observing his previous movements. Its output helps the labeler to improve the match between the pedestrians detected in the new frame and those observed in the previous shots (feedback). If a pedestrian is occluded by some obstacle for a short while, the system continues tracking its movement using motion parameters. Moreover, it is able to reassign the same tracking ID in case the occlusion disappears in a short time. This behavior helps to correct temporary mis-recognitions that occur when the detector fails. The system has been tested using a quantitative performance evaluation tool, giving promising results.
{"title":"A modular tracking system for far infrared pedestrian recognition","authors":"E. Binelli, A. Broggi, A. Fascioli, S. Ghidoni, P. Grisleri, Thorsten Dr. Graf, M. Meinecke","doi":"10.1109/IVS.2005.1505196","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505196","url":null,"abstract":"This paper describes a modular tracking system designed to improve the performance of a pedestrian detector. The tracking system consists of two modules, a labeler and a predictor. The former associates a tracking identifier to each pedestrian, keeping memory of the past history; this is achieved by merging the detector and predictor outputs combined with data about vehicle motion. The predictor, basically a Kalman filter, estimates the new pedestrian position by observing his previous movements. Its output helps the labeler to improve the match between the pedestrians detected in the new frame and those observed in the previous shots (feedback). If a pedestrian is occluded by some obstacle for a short while, the system continues tracking its movement using motion parameters. Moreover, it is able to reassign the same tracking ID in case the occlusion disappears in a short time. This behavior helps to correct temporary mis-recognitions that occur when the detector fails. The system has been tested using a quantitative performance evaluation tool, giving promising results.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132849125","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505167
S. Mahmud, S. Shanker, I. Hossain
The demand for drive-by-wire, telematics, entertainment, multimedia, pre-crash warning, highway guidance, remote diagnostic, etc. will significantly increase the complexity of a vehicle's software modules. From time to time, the vehicle's software may need to be updated due to many reasons such as the introduction of new features in vehicles, changing the navigation map, fixing software bugs, etc. Software updates must be done in secure modes to avoid any future disasters due to malfunctions of the vehicle. In this paper, we propose an architecture for secure software uploads in vehicles. We provide a detailed description of the secure software upload process.
{"title":"Secure software upload in an intelligent vehicle via wireless communication links","authors":"S. Mahmud, S. Shanker, I. Hossain","doi":"10.1109/IVS.2005.1505167","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505167","url":null,"abstract":"The demand for drive-by-wire, telematics, entertainment, multimedia, pre-crash warning, highway guidance, remote diagnostic, etc. will significantly increase the complexity of a vehicle's software modules. From time to time, the vehicle's software may need to be updated due to many reasons such as the introduction of new features in vehicles, changing the navigation map, fixing software bugs, etc. Software updates must be done in secure modes to avoid any future disasters due to malfunctions of the vehicle. In this paper, we propose an architecture for secure software uploads in vehicles. We provide a detailed description of the secure software upload process.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134451746","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 : 2005-06-06DOI: 10.1109/IVS.2005.1505107
Z. Qiu, D. An, D. Yao, D. Zhou, B. Ran
Video object tracking is an important method of traffic data collection in ITS. This paper implements an approach for detecting traffic objects in urban traffic scenes by means of feature-based reasoning on visual data, and tries to track and classify traffic objects with self-defined features. An adaptive Kalman prediction algorithm is presented to improve the prediction accuracy of location. Experimental results are also shown to demonstrate the effectiveness of the proposed algorithm.
{"title":"An adaptive Kalman predictor applied to tracking vehicles in the traffic monitoring system","authors":"Z. Qiu, D. An, D. Yao, D. Zhou, B. Ran","doi":"10.1109/IVS.2005.1505107","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505107","url":null,"abstract":"Video object tracking is an important method of traffic data collection in ITS. This paper implements an approach for detecting traffic objects in urban traffic scenes by means of feature-based reasoning on visual data, and tries to track and classify traffic objects with self-defined features. An adaptive Kalman prediction algorithm is presented to improve the prediction accuracy of location. Experimental results are also shown to demonstrate the effectiveness of the proposed algorithm.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133843381","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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