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2007 IEEE Intelligent Vehicles Symposium最新文献

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Radar-Vision Based Vehicle Recognition with Evolutionary Optimized and Boosted Features 基于雷达视觉的车辆识别进化优化和增强特征
2007 IEEE Intelligent Vehicles Symposium Pub Date : 2007-06-13 DOI: 10.1109/IVS.2007.4290206
U. Kadow, G. Schneider, A. Vukotich
{"title":"Radar-Vision Based Vehicle Recognition with Evolutionary Optimized and Boosted Features","authors":"U. Kadow, G. Schneider, A. Vukotich","doi":"10.1109/IVS.2007.4290206","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290206","url":null,"abstract":"We present a real-time monocular vehicle detection and recognition system for driver assistance based on the fusion of data from a radar and a video sensor. The radar data is used both for narrowing down the size of the search area for vehicle rears on the video image and for the distance measurement of the vehicles in front. Using the passive video sensor a radar object is verified and the width as well as the lateral position of the vehicle are determined. The contribution of this work is threefold: At first, we present and apply a methodology for developing a novel evolutionary optimized symmetry measure. Secondly, we demonstrate a vehicle detection and recognition algorithm consisting of two steps: hypothesis generation using a detector based on a set of Haar-like filters and an AdaBoost learning algorithm and hypothesis verification using an evolutionary optimized and biologically motivated vehicle recognition system. Finally, the performance of both the individual components and the complete vehicle detection and recognition system is evaluated by not only using classical confusion matrices but also giving information on the accuracy of the width and lateral position sensing. Our experimental results demonstrate a robust and real-time system trained and tested on more than 30,000 images.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124895312","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}
引用次数: 37
EM-Based Recursive Tracking Algorithm for Near-Field Moving Sources 基于em的近场运动源递归跟踪算法
2007 IEEE Intelligent Vehicles Symposium Pub Date : 2007-06-13 DOI: 10.1109/IVS.2007.4290144
S. Cekli, E. Çekli, N. Kabaoğlu, H. A. Çırpan
{"title":"EM-Based Recursive Tracking Algorithm for Near-Field Moving Sources","authors":"S. Cekli, E. Çekli, N. Kabaoğlu, H. A. Çırpan","doi":"10.1109/IVS.2007.4290144","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290144","url":null,"abstract":"In this paper, we address the problem of joint tracking of the direction of arrival (DOA) and range parameters of moving sources in the near-field of an antenna array with the expectation-maximization (EM) based recursive algorithm. The main characteristic of the proposed recursive EM approach is to include computation of the gradient of the log-likelihood and some form of the complete-data fisher information matrix. The proposed recursive algorithm in this work assumes that the parameters of interest are described by a linear polynomial model. Simulation results of the suggested algorithm are also presented in order to illustrate the performance of the algorithms.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125533047","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}
引用次数: 4
Stereo Vision Based Ego-Motion Estimation with Sensor Supported Subset Validation 基于传感器支持子集验证的立体视觉自我运动估计
2007 IEEE Intelligent Vehicles Symposium Pub Date : 2007-06-13 DOI: 10.1109/IVS.2007.4290205
J. Horn, A. Bachmann, T. Dang
{"title":"Stereo Vision Based Ego-Motion Estimation with Sensor Supported Subset Validation","authors":"J. Horn, A. Bachmann, T. Dang","doi":"10.1109/IVS.2007.4290205","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290205","url":null,"abstract":"We propose a method to reliably estimate the motion of a dynamic stereo camera system in the three dimensional world where observations are disturbed by high portions of independently moving objects. Robustness of the estimation process is achieved by applying an additional visual sensor. The system consists of a stereo vision sensor, acquiring optical flow and depth information of the scene and a camera with its optical axis oriented perpendicular to the road surface, measuring the speed over ground of the camera-equipped vehicle. The fusion approach presented in this paper combines the motion estimates of the two sensors and applies an efficient random sampling scheme that evaluates the distribution of motion patterns in the scene. The goal of the sampling scheme is to separate the observations into alien and ego-motion portions used in the subsequent step to extract the ego-motion of the camera system. The presented setup of the two visual sensors in combination with the observation sampling scheme increases robustness of the overall system.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125542882","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}
引用次数: 10
An Information Theoretic Vehicle Following System 信息理论车辆跟随系统
2007 IEEE Intelligent Vehicles Symposium Pub Date : 2007-06-13 DOI: 10.1109/IVS.2007.4290279
T. Ng, M. Adams, J. Ibañez-Guzmán
{"title":"An Information Theoretic Vehicle Following System","authors":"T. Ng, M. Adams, J. Ibañez-Guzmán","doi":"10.1109/IVS.2007.4290279","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290279","url":null,"abstract":"Vehicle following can be achieved by minimizing the relative information (Kullback-Leibler or K-L distance), between the estimated poses of leader and follower vehicles. To achieve successful vehicle following, a Bayesian formulation for the system has been derived, and two probabilistic distributions, one for each vehicle's pose, can be obtained. Based on the assumption that the two pose distributions are Gaussian functions, the K-L distance of the vehicle following system can be computed with these two computed distributions. With a series of achievable actions, such as steering and velocity commands, for the follower vehicle at each pose prediction step, and by minimizing the K-L distance, an optimized action for the follower vehicle can be obtained. The information theoretic vehicle following algorithm has been tested under a simulated environment by analyzing the performance of the follower vehicle when the leader vehicle undergoes various kinds of maneuvers. The simulated experimental results validate that the follower is able to trail the trajectories of the leader vehicle satisfactorily and at the same time maintain a safe following distance.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124079042","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}
引用次数: 2
Lane Boundary Detection and Tracking using NNF and HMM Approaches 基于NNF和HMM方法的车道边界检测与跟踪
2007 IEEE Intelligent Vehicles Symposium Pub Date : 2007-06-13 DOI: 10.1109/IVS.2007.4290265
M. Boumediene, A. Ouamri, N. Dahnoun
{"title":"Lane Boundary Detection and Tracking using NNF and HMM Approaches","authors":"M. Boumediene, A. Ouamri, N. Dahnoun","doi":"10.1109/IVS.2007.4290265","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290265","url":null,"abstract":"In this communication we present a new algorithm of lane detection and tracking. In the detection step, from the first frame of a video sequence, a linear-parabolic model is used to smooth the estimated trajectories, obtained by using the NNF approach. In the step of tracking, assuming a small change in the model, we use the HMM to update each parameter of the model. The results obtained are satisfactory.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127962871","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}
引用次数: 16
Continuous Path Following Control for Underactuated Systems With Bounded Actuation 有界驱动欠驱动系统的连续路径跟踪控制
2007 IEEE Intelligent Vehicles Symposium Pub Date : 2007-06-13 DOI: 10.1109/IVS.2007.4290278
E. Sandoz, P. Kokotovic
{"title":"Continuous Path Following Control for Underactuated Systems With Bounded Actuation","authors":"E. Sandoz, P. Kokotovic","doi":"10.1109/IVS.2007.4290278","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290278","url":null,"abstract":"There exist many systems in our daily lives which are underactuated, subject to limits in actuation and which must navigate in constrained spatial environments. Furthermore, these systems can be described in uniform relative degree strict feedback form. Foremost among these are wheeled vehicles like passenger cars. Systems which navigate the physical environment often must follow precise geometric paths, but do not need to traverse the path at a specific speed profile. Hence we will utilize a path following approach, whereby path speed is considered an additional control degree of freedom. For such systems we present a control design method which will follow an arbitrary path with bounded error. The path following error itself is controllable. We then investigate conditions under which zero path following error is possible. Finally, we develop path speed limit conditions for a given path which guarantee zero path following error with control actions restricted to feasible values.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126336809","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}
引用次数: 4
Vertical Dynamics Emulation Using a Vehicle Equipped with Active Suspension 采用主动悬架的车辆垂直动力学仿真
2007 IEEE Intelligent Vehicles Symposium Pub Date : 2007-06-13 DOI: 10.1109/IVS.2007.4290225
M. Akar, J. Kalkkuhl, A. Suissa
{"title":"Vertical Dynamics Emulation Using a Vehicle Equipped with Active Suspension","authors":"M. Akar, J. Kalkkuhl, A. Suissa","doi":"10.1109/IVS.2007.4290225","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290225","url":null,"abstract":"This paper presents an integrated active suspension controller for vertical dynamics emulation. The proposed controller consists of an active body controller and a force controller, that are both designed based on mathematical models derived from physical principles and also validated by experimental data. The efficacy of the proposed method is verified by not only realistic simulations in an advanced simulator but also by experiments on a test vehicle.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129204129","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}
引用次数: 6
Cooperative Driving at Lane Closures 车道封闭时的合作驾驶
2007 IEEE Intelligent Vehicles Symposium Pub Date : 2007-06-13 DOI: 10.1109/IVS.2007.4290274
Li Li, Fei-Yue Wang, Yi Zhang
{"title":"Cooperative Driving at Lane Closures","authors":"Li Li, Fei-Yue Wang, Yi Zhang","doi":"10.1109/IVS.2007.4290274","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290274","url":null,"abstract":"Cooperative driving via vehicle communication attracts increasing interests recently, since the motions of vehicles can be conducted in the safe and smooth manner. In this paper, cooperative driving at lane closures is studied. First, the solution space of all allowable driving schedules is described by a spanning tree in terms of vehicle safe passing order. The corresponding trajectory planning method is then proposed to generate the acceptable lane changing profiles. The proposed algorithm is fast and reliable, but sometimes yields conservative solutions than previous algorithms.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121133647","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}
引用次数: 27
A New Landmark and Sensor Selection Method for Vehicle Localization and Guidance 一种新的车辆定位与导航地标与传感器选择方法
2007 IEEE Intelligent Vehicles Symposium Pub Date : 2007-06-13 DOI: 10.1109/IVS.2007.4290102
C. Tessier, M. Berducat, R. Chapuis, F. Chausse
{"title":"A New Landmark and Sensor Selection Method for Vehicle Localization and Guidance","authors":"C. Tessier, M. Berducat, R. Chapuis, F. Chausse","doi":"10.1109/IVS.2007.4290102","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290102","url":null,"abstract":"Markov localization is one of the effective techniques for determining the physical locations of an autonomous vehicle whose the perceptions of the environment are limited. To improve the localization, a multi-sensor approach is used. A landmark selection process is usually employed. The aim of this selection strategy is to select the landmark that answers at best to a criterion. In general, the selected landmark is the one that improve the most the vehicle's location. In this paper, we extend the landmark selection problem into a resource selection (i.e. sensor and feature detection algorithm) problem. This selection is also based on a criterion. However, this criterion is defined in function of the application's objectives. Here, the application concerns vehicle's guidance. This last one requires an accurate and reliable estimation. Thus, we propose a novel selection strategy of the landmark, the sensor, and the feature detection algorithm to offer an accurate and reliable localization. We demonstrate the practicality of this approach by guiding an experimental vehicle in real outdoor environment.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"378 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123197307","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}
引用次数: 6
Communication solution for Vehicles Navigation on the Airport territory 机场区域车辆导航通信解决方案
2007 IEEE Intelligent Vehicles Symposium Pub Date : 2007-06-13 DOI: 10.1109/IVS.2007.4290169
T. Zelinka, M. Svítek
{"title":"Communication solution for Vehicles Navigation on the Airport territory","authors":"T. Zelinka, M. Svítek","doi":"10.1109/IVS.2007.4290169","DOIUrl":"https://doi.org/10.1109/IVS.2007.4290169","url":null,"abstract":"Communications solution represents one of the key parts of the intelligent transport system (ITS). Methodology of the communication system identification and configuration was studied within projects CaMNA1 and SRAUTVU2. Goal of CaMNA project is to improve airport over-ground traffic efficiency and security for all moving aircrafts as well as service vehicles. Requirements on the communications environment are quantified indirectly by telematic sub-system performance indicators, which are usually applied in the ITS area. Right selection and configuration of the appropriate communication solution are achievable, if \"transformation matrix\" between vectors of communications and telematic performance indicators is correctly identified. Basic principles of method are introduced. Application of the proposed methodology is demonstrated on the CaMNA communications system identification and its parameters settings. CaMNA vehicle unit is designed for special navigation services operated in specific lively airport area conditions. Positional data are obtained from all service vehicles equipped with GNSS (global navigation satellite system) as well as from non-GNSS A-SMGCS (advanced surface movement guidance and control system). These data are centrally processed and together with dispatcher's decisions are delivered to every active service vehicle. Results of the communication solution parameters tests processed within CaMNA pilot installation and relevant recommendations are presented as the last part of this paper.","PeriodicalId":190903,"journal":{"name":"2007 IEEE Intelligent Vehicles Symposium","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132557313","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}
引用次数: 31
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