Pub Date : 2005-06-06DOI: 10.1109/IVS.2005.1505072
M. Bertozzi, A. Broggi, A. Lasagni, M. Rose
This paper describes an approach for pedestrian detection in stereo infrared images. The developed system has been implemented on an experimental vehicle equipped with two infrared cameras and preliminarily tested in different situations. It is based on the localization and distance estimation of warm areas in the scene; the algorithm groups areas with similar position and considers only results with specific size and aspect ratio. A final validation process, based on the head shape's morphological and thermal characteristics, is used to build the list of potential pedestrian appearing in the scene. Neither temporal correlation, nor motion cues are used in this processing.
{"title":"Infrared stereo vision-based pedestrian detection","authors":"M. Bertozzi, A. Broggi, A. Lasagni, M. Rose","doi":"10.1109/IVS.2005.1505072","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505072","url":null,"abstract":"This paper describes an approach for pedestrian detection in stereo infrared images. The developed system has been implemented on an experimental vehicle equipped with two infrared cameras and preliminarily tested in different situations. It is based on the localization and distance estimation of warm areas in the scene; the algorithm groups areas with similar position and considers only results with specific size and aspect ratio. A final validation process, based on the head shape's morphological and thermal characteristics, is used to build the list of potential pedestrian appearing in the scene. Neither temporal correlation, nor motion cues are used in this processing.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"65 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":"133763736","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.2005.1505128
Jianmin Sun, Qingmei Yang
With the nonlinearity of the road-automotive system, an adjustable fuzzy control algorithm which fuzzy control rule table can be obtained with the numerical calculation is advanced. The rectification factor is adjusted online according to LMS adaptive method. The factor can be influenced by exciting signal and controlled signal. For two degree-of-freedom (DOF) automotive model, the simulation of automotive performance in road signal is studied; its results show the adjustable fuzzy controller can reduce the acceleration of the sprung mass by a factor of 20. According to the experiment study of automotive model, the experiment effect is basically similar to simulation results. It proves further the validity of advanced algorithm.
{"title":"Self-adjustment fuzzy control of automobile active suspension","authors":"Jianmin Sun, Qingmei Yang","doi":"10.1109/IVS.2005.1505128","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505128","url":null,"abstract":"With the nonlinearity of the road-automotive system, an adjustable fuzzy control algorithm which fuzzy control rule table can be obtained with the numerical calculation is advanced. The rectification factor is adjusted online according to LMS adaptive method. The factor can be influenced by exciting signal and controlled signal. For two degree-of-freedom (DOF) automotive model, the simulation of automotive performance in road signal is studied; its results show the adjustable fuzzy controller can reduce the acceleration of the sprung mass by a factor of 20. According to the experiment study of automotive model, the experiment effect is basically similar to simulation results. It proves further the validity of advanced algorithm.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"8 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":"121477456","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.2005.1505184
A. Kapp
This article addresses the problem of robust signal processing of 3D lidar data prone to noise. After describing the characteristics of the lidar data given we describe how the data can be segmented in a robust manner. The approach is based on edge detection followed by region growing. We show how the segments can be described using parametric models. In the final step the segments are circumscribed using appropriate bounding objects. We motivate the individual steps of our approach and light up the mathematical background.
{"title":"Robust object segmentation and parametrization of 3D lidar data","authors":"A. Kapp","doi":"10.1109/IVS.2005.1505184","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505184","url":null,"abstract":"This article addresses the problem of robust signal processing of 3D lidar data prone to noise. After describing the characteristics of the lidar data given we describe how the data can be segmented in a robust manner. The approach is based on edge detection followed by region growing. We show how the segments can be described using parametric models. In the final step the segments are circumscribed using appropriate bounding objects. We motivate the individual steps of our approach and light up the mathematical background.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"13 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":"115468753","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.2005.1505170
P. Gil-Jiménez, S. Lafuente-Arroyo, H. Gómez-Moreno, F. López-Ferreras, S. Maldonado-Bascón
In this paper we have developed a new algorithm of artificial vision oriented to traffic sign shape classification. The classification method basically consists of a series of comparison between the FFT of the signature of a blob and the FFT of the signatures of the reference shapes used in traffic signs. The two major steps of the process are: the segmentation according to the color and the identification of the geometry of the candidate blob using its signature. The most important advances are its robustness against rotation and deformation due to camera projections.
{"title":"Traffic sign shape classification evaluation. Part II. FFT applied to the signature of blobs","authors":"P. Gil-Jiménez, S. Lafuente-Arroyo, H. Gómez-Moreno, F. López-Ferreras, S. Maldonado-Bascón","doi":"10.1109/IVS.2005.1505170","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505170","url":null,"abstract":"In this paper we have developed a new algorithm of artificial vision oriented to traffic sign shape classification. The classification method basically consists of a series of comparison between the FFT of the signature of a blob and the FFT of the signatures of the reference shapes used in traffic signs. The two major steps of the process are: the segmentation according to the color and the identification of the geometry of the candidate blob using its signature. The most important advances are its robustness against rotation and deformation due to camera projections.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"6 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":"123809478","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.2005.1505160
X. Hong, Z. Yi, H. Jianming, Song Jing-yan
In intelligent transportation system (ITS), it is of great significance to share data among distributed and heterogeneous databases to realized system goal. In this paper a strategy of managing dynamic data information for multi-databases system in ITS under wide-area network (WAN) is proposed. Data directory is introduced to record data information of every database system, and is periodically updated by using alphabetical link for database structure set. Updating message is transferred peer-to-peer to avoid bottle neck at one system. Finally, the paper discusses how to detect the login and logout systems. A demo system based on the presented method is introduced to prove its validity.
{"title":"A dynamic data information management algorithm for multi-database system under WAN","authors":"X. Hong, Z. Yi, H. Jianming, Song Jing-yan","doi":"10.1109/IVS.2005.1505160","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505160","url":null,"abstract":"In intelligent transportation system (ITS), it is of great significance to share data among distributed and heterogeneous databases to realized system goal. In this paper a strategy of managing dynamic data information for multi-databases system in ITS under wide-area network (WAN) is proposed. Data directory is introduced to record data information of every database system, and is periodically updated by using alphabetical link for database structure set. Updating message is transferred peer-to-peer to avoid bottle neck at one system. Finally, the paper discusses how to detect the login and logout systems. A demo system based on the presented method is introduced to prove its validity.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"1 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":"124376602","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.2005.1505131
A. Eidehall, Thomas Bo Schön, F. Gustafsson
This paper deals with the problem of estimating the vehicle surroundings (lane geometry and the position of other vehicles), which is needed for intelligent automotive systems, such as adaptive cruise control, collision avoidance and lane guidance. This results in a nonlinear estimation problem. For automotive tracking systems, these problems are traditionally handled using the extended Kalman filter. In this paper we describe the application of the marginalized particle filter to this problem. Studies using both synthetic and authentic data show that the marginalized particle filter can in fact give better performance than the extended Kalman filter. However, the computational load is higher.
{"title":"The marginalized particle filter for automotive tracking applications","authors":"A. Eidehall, Thomas Bo Schön, F. Gustafsson","doi":"10.1109/IVS.2005.1505131","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505131","url":null,"abstract":"This paper deals with the problem of estimating the vehicle surroundings (lane geometry and the position of other vehicles), which is needed for intelligent automotive systems, such as adaptive cruise control, collision avoidance and lane guidance. This results in a nonlinear estimation problem. For automotive tracking systems, these problems are traditionally handled using the extended Kalman filter. In this paper we describe the application of the marginalized particle filter to this problem. Studies using both synthetic and authentic data show that the marginalized particle filter can in fact give better performance than the extended Kalman filter. However, the computational load is higher.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"27 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":"125339545","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}
This manuscript addresses the design and implementation of an encrypted mobile embedded surveillance system, EMESS, including a wireless server and mobile devices. Not only the mobility of the hand-held devices, but also the surveillance system can work in a moving body, then, a real mobile surveillance system is provided. In the security applications of vehicles, EMESS also can provide the images of thieves and robbers to the vehicle owner. We complete the related works of EMESS and the corresponding application programs for wireless communication of hand-held devices.
{"title":"An encrypted mobile embedded surveillance system","authors":"Bing-Fei Wu, Hsin-Yuan Peng, Chao-Jung Chen, Yi-Huang Chan","doi":"10.1109/IVS.2005.1505153","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505153","url":null,"abstract":"This manuscript addresses the design and implementation of an encrypted mobile embedded surveillance system, EMESS, including a wireless server and mobile devices. Not only the mobility of the hand-held devices, but also the surveillance system can work in a moving body, then, a real mobile surveillance system is provided. In the security applications of vehicles, EMESS also can provide the images of thieves and robbers to the vehicle owner. We complete the related works of EMESS and the corresponding application programs for wireless communication of hand-held devices.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"31 2","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2005-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120899903","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.2005.1505212
He-Sheng Zhang, Yi Zhang, D. Yao, Dongcheng Hu
Urban transportation system is a distributed, man-involved and time-variable complex system. So the traffic state analysis is important because it can provide, in a real time way, global view of traffic state in the level of road network, which is very clearly useful in traffic control and route guidance. However, the traffic state analysis involves substantial data and multi-sensor data. So the architecture is important because it can define the mechanism for data management and state analysis. The provided architecture in this paper includes the global data management mechanism, the framework of area traffic state analysis, and the uniform traffic state variable. In global traffic data management, the CORBA-A mechanism combing CORBA, agent and XML for data management is provided, which can deal with the distributed heterogeneous dynamic and substantial traffic data. In the traffic state analysis, the layered framework is provided. The uniform state variable is also defined in the architecture, which is the basis of data fusion for GPS data, loop detector data, map data and other data. The case study shows the provided architecture feasible.
{"title":"An architecture of traffic state analysis based on multi-sensor fusion","authors":"He-Sheng Zhang, Yi Zhang, D. Yao, Dongcheng Hu","doi":"10.1109/IVS.2005.1505212","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505212","url":null,"abstract":"Urban transportation system is a distributed, man-involved and time-variable complex system. So the traffic state analysis is important because it can provide, in a real time way, global view of traffic state in the level of road network, which is very clearly useful in traffic control and route guidance. However, the traffic state analysis involves substantial data and multi-sensor data. So the architecture is important because it can define the mechanism for data management and state analysis. The provided architecture in this paper includes the global data management mechanism, the framework of area traffic state analysis, and the uniform traffic state variable. In global traffic data management, the CORBA-A mechanism combing CORBA, agent and XML for data management is provided, which can deal with the distributed heterogeneous dynamic and substantial traffic data. In the traffic state analysis, the layered framework is provided. The uniform state variable is also defined in the architecture, which is the basis of data fusion for GPS data, loop detector data, map data and other data. The case study shows the provided architecture feasible.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"397 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":"128591611","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.2005.1505124
S. Nedevschi, R. Danescu, T. Mariţa, F. Oniga, C. Pocol, S. Sobol, T. Graf, R. Schmidt
This paper presents a high accuracy, far range stereovision approach for driving environment perception based on 3D lane and obstacle detection. Stereovision allows the elimination of the common assumptions used in most monocular systems: flat road, constant pitch angle or absence of roll angle. The lane detection method is based on clothoidal 3D lane model. The detected lane parameters are the vertical and horizontal curvatures, the lane width and the roll angle. The detected lane profile is used for road obstacle features separation. Based on a vicinity criteria the over road 3D points are grouped and tracked over frames. The system detects and classifies the meaningful obstacles in terms of 3D position, size and speed.
{"title":"Driving environment perception using stereovision","authors":"S. Nedevschi, R. Danescu, T. Mariţa, F. Oniga, C. Pocol, S. Sobol, T. Graf, R. Schmidt","doi":"10.1109/IVS.2005.1505124","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505124","url":null,"abstract":"This paper presents a high accuracy, far range stereovision approach for driving environment perception based on 3D lane and obstacle detection. Stereovision allows the elimination of the common assumptions used in most monocular systems: flat road, constant pitch angle or absence of roll angle. The lane detection method is based on clothoidal 3D lane model. The detected lane parameters are the vertical and horizontal curvatures, the lane width and the roll angle. The detected lane profile is used for road obstacle features separation. Based on a vicinity criteria the over road 3D points are grouped and tracked over frames. The system detects and classifies the meaningful obstacles in terms of 3D position, size and speed.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"1 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":"128662496","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.2005.1505100
A. Dankers, N. Barnes, A. Zelinsky
We present a mapping approach to road scene awareness based on active stereo vision. We generalise traditional static multi-camera rectification techniques to enable active epipolar rectification with a mosaic representation of the output. The approach is used to apply standard static depth mapping and optical flow techniques to the active case. We use the framework to extract the ground plane and segment moving objects in dynamic scenes using arbitrarily moving cameras on a moving vehicle. The approach enables an estimation of the velocity of the vehicle relative to the road, and the velocity of objects in the scene. We provide footage of preliminary results of the system operating in real-time, including dynamic object extraction and tracking, ground plane extraction, and recovery of vehicle velocity.
{"title":"Active vision for road scene awareness","authors":"A. Dankers, N. Barnes, A. Zelinsky","doi":"10.1109/IVS.2005.1505100","DOIUrl":"https://doi.org/10.1109/IVS.2005.1505100","url":null,"abstract":"We present a mapping approach to road scene awareness based on active stereo vision. We generalise traditional static multi-camera rectification techniques to enable active epipolar rectification with a mosaic representation of the output. The approach is used to apply standard static depth mapping and optical flow techniques to the active case. We use the framework to extract the ground plane and segment moving objects in dynamic scenes using arbitrarily moving cameras on a moving vehicle. The approach enables an estimation of the velocity of the vehicle relative to the road, and the velocity of objects in the scene. We provide footage of preliminary results of the system operating in real-time, including dynamic object extraction and tracking, ground plane extraction, and recovery of vehicle velocity.","PeriodicalId":386189,"journal":{"name":"IEEE Proceedings. Intelligent Vehicles Symposium, 2005.","volume":"21 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":"130940277","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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