2013 IEEE Intelligent Vehicles Symposium (IV)最新文献_第5页

Vehicle detection and tracking at intersections by fusing multiple camera views 融合多摄像头视图的交叉口车辆检测与跟踪

2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629578

Elias Strigel, D. Meissner, K. Dietmayer

引用次数: 20

Noise-resilient road surface and free space estimation using dense stereo 基于密集立体的抗噪路面及自由空间估计

2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629511

J. Suhr, H. Jung

引用次数: 15

Feature-based monocular vehicle turn rate estimation from a moving platform 基于特征的移动平台单目车辆转换率估计

2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629539

Michael Gabb, Artem Kaliuk, T. Ruland, O. Löhlein, A. Westenberger, K. Dietmayer

引用次数: 4

Stereo image warping for improved depth estimation of road surfaces 立体图像翘曲改进路面深度估计

2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629469

Nils Einecke, J. Eggert

{"title":"Stereo image warping for improved depth estimation of road surfaces","authors":"Nils Einecke, J. Eggert","doi":"10.1109/IVS.2013.6629469","DOIUrl":"https://doi.org/10.1109/IVS.2013.6629469","url":null,"abstract":"Accurate stereoscopic depth estimation, in particular of the road surface area, is one of several key technologies to improve Advanced Driver Assistance Systems (ADAS). One major problem is that the quality of the stereoscopic depth measurements of the road is often poor - which is mainly attributed to a lack of texture on the road surface. Especially for patch-matching stereo algorithms, the estimated depths look irregular and bumpy. In this paper, we show that the violation of the fronto-parallel assumption is the major reason for a bad depth estimation and not a low-contrast texture on the road surface. Since patch-matching or block-matching stereo inherently assumes a constant disparity within one patch, this is violated if the cameras are oriented almost parallel to the ground, which is typically the case in ADAS, and which leads to a strong distortion of the appearance between the two cameras. In order to tackle this problem, we propose a compensation of this distortion by applying a linear warp on one of the stereo images according to the expected disparity for the planar ground. This recovers the fronto-parallel assumption and results in a very good depth estimations of road surfaces. Our experiments on the KITTI stereo benchmark demonstrate the quantitative competitiveness of the approach, while retaining the speed and simplicity of block-matching stereo approaches. Furthermore, our experiments show that the approach is very robust, achieving results for the road surface that are significantly better than standard patch-matching stereo processing without warping for a wide range of warp parameter settings.","PeriodicalId":251198,"journal":{"name":"2013 IEEE Intelligent Vehicles Symposium (IV)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126647547","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: 23

Pedestrian detection based on LIDAR-driven sliding window and relational parts-based detection 基于激光雷达驱动滑动窗口和相关部件检测的行人检测

2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629490

Luciano Oliveira, U. Nunes

引用次数: 8

A 2D/3D Vision Based Approach Applied to Road Detection in Urban Environments 基于2D/3D视觉的城市道路检测方法

2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629589

G. B. Vitor, Danilo Alves de Lima, A. Victorino, J. V. Ferreira

引用次数: 34

Steering rate controller based on curvature of trajectory for autonomous driving vehicles 基于轨迹曲率的自动驾驶车辆转向速率控制器

2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629659

I. Bae, Jin Hyo Kim, Shiho Kim

{"title":"Steering rate controller based on curvature of trajectory for autonomous driving vehicles","authors":"I. Bae, Jin Hyo Kim, Shiho Kim","doi":"10.1109/IVS.2013.6629659","DOIUrl":"https://doi.org/10.1109/IVS.2013.6629659","url":null,"abstract":"We propose a steering control method for an autonomous vehicle by controlling the steering rate instead of the steering angle and describe a method for extracting the steering rate from the reference path using the relationship with curvature and slip angle. The proposed steering control method can be used not only for planning steering control input from the desired trajectories at the planning stage but also for the instantaneous planning of a driving path during vehicle motion. From the desired trajectory plotted in a two-dimensional XY coordinate system, the steering rate is extracted from the reference path, as a function of x. The extracted steering rate functions as the control input to the vehicle's controller for changing the front wheel's angle. MATLAB simulations of a double-lane-change maneuver were conducted for two scenarios, i.e., when the desired trajectory is given and when the driving path is planned instantaneously. For the double-lane-change maneuver, the curvature and the steering rate input to the controller are extracted from the virtually generated instantaneous reference path. The robustness of the proposed model and method are verified by re-constructing the trajectory traveled when the calculated steering rate is input into the controller.","PeriodicalId":251198,"journal":{"name":"2013 IEEE Intelligent Vehicles Symposium (IV)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124398072","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: 14

Implications for unmanned systems research of military UAV mishap statistics 军用无人机事故统计对无人系统研究的启示

2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629628

Stefan Giese, David Carr, J. Chahl

引用次数: 31

A learning concept for behavior prediction in traffic situations 交通状况下行为预测的学习概念

2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629544

R. Graf, H. Deusch, M. Fritzsche, K. Dietmayer

引用次数: 23

Road side detection and reconstruction using LIDAR sensor 利用激光雷达传感器进行路侧探测与重建

2013 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2013-06-23 DOI: 10.1109/IVS.2013.6629637

A. Hervieu, B. Soheilian

引用次数: 32