2014 IEEE Intelligent Vehicles Symposium Proceedings最新文献_第4页

Robust ground plane induced homography estimation for wide angle fisheye cameras 广角鱼眼相机的鲁棒地平面诱导单应性估计

2014 IEEE Intelligent Vehicles Symposium Proceedings Pub Date : 2014-06-08 DOI: 10.1109/IVS.2014.6856402

Moritz Knorr, W. Niehsen, C. Stiller

{"title":"Robust ground plane induced homography estimation for wide angle fisheye cameras","authors":"Moritz Knorr, W. Niehsen, C. Stiller","doi":"10.1109/IVS.2014.6856402","DOIUrl":"https://doi.org/10.1109/IVS.2014.6856402","url":null,"abstract":"Knowledge of motion with respect to the ground plane is required in many computer vision applications such as obstacle avoidance, egomotion estimation, and online calibration. The homography matrix comprises motion as well as ground plane information. Estimation of the homography matrix is challenging, as measurements are often not only corrupted by sparse gross outliers, but might also contain other structures, which are inconsistent with the ground plane such as curbstones and sidewalks. Several well studied algorithms regarding the identification of sparse gross outliers already exist. However, identifying structural outliers remains a challenging problem due the outliers' inner coherence. In homography and plane estimation structural outliers often cause plane fits that do not correspond to any physical plane in the scene. We make use of the large field of view of fisheye cameras by exploiting that outlier identification can be performed more robustly in the near field where motion parallax vectors are large. More sensitive data can then be tested subsequently based on the preceding results. The main contribution of this paper is twofold. First, we present a statistical analysis of parallax amplitudes that are to be expected due to the distance of a point from the ground plane and measurement noise. This leads to a statistical test for outliers with local adaptive thresholds. Second, we embed this concept into an extended Kalman filter for efficient processing. Furthermore, we emphasize the importance of warping captured images into a common frame previous to feature detection and matching to avoid distortion effects and to equalize search regions. We demonstrate the robustness of our approach and the effects of prewarping on the estimation using real data.","PeriodicalId":254500,"journal":{"name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","volume":"49 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117272188","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

An approach of human driving behavior correction based on Dynamic Window Approach 基于动态窗口法的人类驾驶行为校正方法

2014 IEEE Intelligent Vehicles Symposium Proceedings Pub Date : 2014-06-08 DOI: 10.1109/IVS.2014.6856543

Yue Kang, Danilo Alves de Lima, A. Victorino

引用次数: 4

Detecting and positioning overtaking vehicles using 1D optical flow 利用一维光流检测和定位超车车辆

2014 IEEE Intelligent Vehicles Symposium Proceedings Pub Date : 2014-06-08 DOI: 10.1109/IVS.2014.6856447

Daniel Hultqvist, Jacob Roll, Fredrik Svensson, J. Dahlin, Thomas Bo Schön

引用次数: 22

Improving and simplifying the generation of reference trajectories by usage of road-aligned coordinate systems 改进和简化参考轨迹的生成使用道路对齐坐标系

2014 IEEE Intelligent Vehicles Symposium Proceedings Pub Date : 2014-06-08 DOI: 10.1109/IVS.2014.6856502

J. Hudeček, L. Eckstein

引用次数: 5

Visual odometry with unsynchronized multi-cameras setup for intelligent vehicle application 具有非同步多摄像头设置的视觉里程计用于智能车辆应用

2014 IEEE Intelligent Vehicles Symposium Proceedings Pub Date : 2014-06-08 DOI: 10.1109/IVS.2014.6856533

Rawia Mhiri, P. Vasseur, S. Mousset, R. Boutteau, A. Bensrhair

引用次数: 10

Block-matching stereo with relaxed fronto-parallel assumption 放宽正面平行假设的块匹配立体

2014 IEEE Intelligent Vehicles Symposium Proceedings Pub Date : 2014-06-08 DOI: 10.1109/IVS.2014.6856414

Nils Einecke, J. Eggert

引用次数: 33

Graph-based context representation, environment modeling and information aggregation for automated driving 基于图的自动驾驶上下文表示、环境建模和信息聚合

2014 IEEE Intelligent Vehicles Symposium Proceedings Pub Date : 2014-06-08 DOI: 10.1109/IVS.2014.6856556

Simon Ulbrich, T. Nothdurft, M. Maurer, P. Hecker

引用次数: 50

Moving object detection under dynamic background in 3D range data 三维距离数据动态背景下的运动目标检测

2014 IEEE Intelligent Vehicles Symposium Proceedings Pub Date : 2014-06-08 DOI: 10.1109/IVS.2014.6856426

Yi Yang, Yan Guang, Hao Zhu, M. Fu, Meiling Wang

引用次数: 9

The analytic hierarchy process-based optimal forwarder selection in multi-hop broadcasting scheme for vehicular safety 基于层次分析法的车辆安全多跳广播方案最优转发器选择

2014 IEEE Intelligent Vehicles Symposium Proceedings Pub Date : 2014-06-08 DOI: 10.1109/IVS.2014.6856429

Dongxiu Ou, Yuchen Yang, Lixia Xue, T. Shen, Lun Zhang

{"title":"The analytic hierarchy process-based optimal forwarder selection in multi-hop broadcasting scheme for vehicular safety","authors":"Dongxiu Ou, Yuchen Yang, Lixia Xue, T. Shen, Lun Zhang","doi":"10.1109/IVS.2014.6856429","DOIUrl":"https://doi.org/10.1109/IVS.2014.6856429","url":null,"abstract":"Vehicular technologies have been recently introduced to highway safety applications and caught much attention of governments and management authorities. The vehicular ad hoc network (VANET) uses cars as mobile nodes to form a mobile network. VANET offers potential and promising technical solutions to vehicular safety. Multi-hop broadcasting schemes are particularly preferred methods to transmit time-sensitive safety warning information to potentially influenced vehicles. However, broadcasting may lead to frequent contention and serious collision, thus causing broadcast storms. In order to alleviate broadcast storm and promptly disseminate safety warnings, the paper proposes an optimal forwarder selection scheme to minimize the number of rebroadcasting nodes and guarantee fast and efficient safety warning information dissemination. The proposed forwarder selection scheme is based on the analytic hierarchy process (AHP). The criteria include inter-vehicular lateral and longitudinal distances, vehicular communication ranges, and vehicles covered within the communication range of previous forwarder vehicles. The AHP-based forwarder selection model is established and model's validity is verified mathematically in this paper.","PeriodicalId":254500,"journal":{"name":"2014 IEEE Intelligent Vehicles Symposium Proceedings","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-06-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129544730","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: 3

High accurate affordable car navigation using built-in sensory data and images acquired from a front view camera 使用内置的传感器数据和从前视摄像头获取的图像，高精度、经济实惠的汽车导航

2014 IEEE Intelligent Vehicles Symposium Proceedings Pub Date : 2014-06-08 DOI: 10.1109/IVS.2014.6856495

Hojun Kim, Kyoungah Choi, Impyeong Lee

引用次数: 9