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2012 IEEE Intelligent Vehicles Symposium最新文献

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Real-time dynamic environment perception in driving scenarios using difference fronts 基于不同前沿的驾驶场景实时动态环境感知
2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232270
A. Vatavu, R. Danescu, S. Nedevschi
{"title":"Real-time dynamic environment perception in driving scenarios using difference fronts","authors":"A. Vatavu, R. Danescu, S. Nedevschi","doi":"10.1109/IVS.2012.6232270","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232270","url":null,"abstract":"The environment representation is one of the main challenges of autonomous navigation. In the case of complex driving environments such as crowded city traffic scenarios, achieving satisfactory results becomes even more difficult. In this paper we propose a real-time solution for two main issues of advanced driver assistance systems: unstructured environment representation and extraction of dynamic properties of traffic participants. For the real-time environment representation we propose a solution to extract object delimiters from the traffic scenes and represent them as polygonal models. In order to track dynamic entities, an intermediate evidence map named “Stereo Temporal Difference Map” is proposed. This difference map is computed by comparing the occupancy of a cell between two consecutive frames. Based on the Stereo Temporal Difference Map information, difference fronts are extracted and are subjected to a particle based filtering mechanism. Finally, the provided dynamic features are associated to the extracted polygonal models. The result is a more compact representation of the dynamic environment.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"114 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134424398","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: 13
Novel decentralised formation control for unmanned vehicles 无人驾驶车辆的新型分散编队控制
2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232122
Aolei Yang, W. Naeem, G. Irwin, Kang Li
{"title":"Novel decentralised formation control for unmanned vehicles","authors":"Aolei Yang, W. Naeem, G. Irwin, Kang Li","doi":"10.1109/IVS.2012.6232122","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232122","url":null,"abstract":"This paper proposes a new methodology for solving the unmanned multi-vehicle formation control problem. It employs a unique “extension-decomposition-aggregation” scheme to transform the overall complex formation control problem to a group of sub-problems which work via boundary interactions. The H∞ robust control strategy is applied to design the decentralised formation controllers to reject the interactions and work jointly to maintain the stability of the overall formation. Simulation studies have been performed to verify its performance and effectiveness.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134541232","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: 15
Detection of abnormal driving using multiple view geometry in space-time 基于时空多视点几何的异常驾驶检测
2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232189
Kota Saruwatari, Fumihiko Sakaue, J. Sato
{"title":"Detection of abnormal driving using multiple view geometry in space-time","authors":"Kota Saruwatari, Fumihiko Sakaue, J. Sato","doi":"10.1109/IVS.2012.6232189","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232189","url":null,"abstract":"In this paper, we propose a method for detecting abnormal driving of vehicles, such as meandering, transverse motion and acceleration/deceleration. In particular, we extract abnormal vehicle motions in the sense of group behavior by using multilinear relationship in space-time images. The multilinear relationship in space-time images holds when multiple cameras move with translational motions in different direction with different speed. Therefore abnormal drivings, which are not translational motion with uniform velocity, do not meet the requirement, and the multilinear relationship in space-time images does not hold. We focus on this property, and define the degree of abnormality, which is used for detecting abnormal drivings. The efficiency of the proposed method is shown by real image experiments.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133261230","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: 13
Generic camera calibration and modeling using spline surfaces 一般相机校准和建模使用样条曲面
2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232156
Dennis Rosebrock, F. Wahl
{"title":"Generic camera calibration and modeling using spline surfaces","authors":"Dennis Rosebrock, F. Wahl","doi":"10.1109/IVS.2012.6232156","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232156","url":null,"abstract":"Cameras are a commonly used sensor in advanced driver assistance systems (ADAS). They serve to get vast amounts of information about a vehicle's environment. To accurately localize the measured data in relation to the own car, exact camera calibration is a prerequisite. This includes extrinsic as well as intrinsic parameters. While many works in the area of ADAS focus on extrinsic calibration, this work covers the intrinsic calibration. We use a generic camera model which regards the viewing ray of every pixel separately and can therefore be used to describe arbitrary imaging devices even with massive lens distortions. As the calibration procedure works for any camera, only one method has to be implemented, which simplifies the sensor calibration process. Former works have shown the applicability of generic camera models but do not cover important practical aspects which are subpixel ray determination and forward projection of arbitrary 3d points to the image plane. Furthermore, the calibration processes described so far are cumbersome and prone to inaccuracies. We propose to use spline surfaces to simplify the calibration procedure and implement general back and forward projection. The applicability of our approach is proved by showing calibration results for various real cameras.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133934545","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: 12
Drivable space characterization using automotive lidar and georeferenced map information 利用汽车激光雷达和地理参考地图信息表征可驾驶空间
2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232252
J. Moras, S. R. Florez, Vincent Drevelle, G. Dherbomez, V. Berge-Cherfaoui, P. Bonnifait
{"title":"Drivable space characterization using automotive lidar and georeferenced map information","authors":"J. Moras, S. R. Florez, Vincent Drevelle, G. Dherbomez, V. Berge-Cherfaoui, P. Bonnifait","doi":"10.1109/IVS.2012.6232252","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232252","url":null,"abstract":"The characterization in real-time of the drivable space in front of the vehicle is a key issue for safe autonomous navigation or driving assistance. This paper presents a method that uses a lidar (a multilayer laser scanner) integrated in the front bumper of an automotive vehicle. A grid processing is first applied to detect and localize objects in the immediate environment after having compensated the movement of the vehicle. Accurate map information is then introduced in the perception scheme to refine the characterization of the drivable space. The paper details the different processing stages necessary to implement this method and presents the design of the system that has been prototyped on board an experimental vehicle. We report real experiments carried out in challenging urban environments to illustrate the performance of this approach which has been evaluated thanks to a precise retro-projection of the estimated drivable space in a wide-angle scene camera.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":" 17","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113948148","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
An approach to automotive ECG measurement validation using a car-integrated test framework 基于汽车集成测试框架的汽车心电测量验证方法
2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232289
Johannes Schneider, C. Köllner, S. Heuer
{"title":"An approach to automotive ECG measurement validation using a car-integrated test framework","authors":"Johannes Schneider, C. Köllner, S. Heuer","doi":"10.1109/IVS.2012.6232289","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232289","url":null,"abstract":"Development and integration of physiological sensors into automotive applications is gaining importance. Assistance systems which possess knowledge about the driver's cognitive state could increase road safety. In this paper we present a flexible framework that enables the development, evaluation and verification of sensors and algorithms for automotive applications using physiological signals under realistic driving conditions. We have integrated a custom capacitive ECG measurement system into a test car and validated its performance in real world driving tests. During first test runs, the capacitive system achieved a sensitivity of up to 95.5% and a precision rate of up to 92.6%. Our system also records synchronized vehicle dynamics. We discuss the road test measurements which suggest that the driving situation highly impacts the quality of ECG signal. Therefore, information on driving dynamics could be used to improve the precision rate of future capacitive ECG measurement.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128762270","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
Driver behavior monitoring system based on traffic violation 基于交通违章行为的驾驶员行为监控系统
2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232176
N. Aliane, Javier Fernández, S. Bemposta, M. Mata
{"title":"Driver behavior monitoring system based on traffic violation","authors":"N. Aliane, Javier Fernández, S. Bemposta, M. Mata","doi":"10.1109/IVS.2012.6232176","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232176","url":null,"abstract":"This paper describes the overall framework and components of an experimental platform for driver behavior monitoring based on driver's traffic violation records. This platform is composed of two separate subsystems: a driver assistance system based on road sign detection and recognition, and a traffic violation recording unit in which the vehicle is involved. The system provides drivers with their traffic violation records allowing them to visualize the spatial and temporal information of their traffic violation using the standard Google Earth tool. This feedback can be used to persuade drivers in changing their driving styles by instilling improved behavior. The paper covers firstly the description of the hardware architecture and then presents the developed functionalities.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"167 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115988247","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
Visual ego motion estimation in urban environments based on U-V disparity 基于U-V视差的城市视觉自我运动估计
2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232183
B. Musleh, David Martín, A. D. L. Escalera, J. M. Armingol
{"title":"Visual ego motion estimation in urban environments based on U-V disparity","authors":"B. Musleh, David Martín, A. D. L. Escalera, J. M. Armingol","doi":"10.1109/IVS.2012.6232183","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232183","url":null,"abstract":"The movement of the vehicle provides useful information for different applications, such as driver assistant systems or autonomous vehicles. This information can be known by means of a GPS, but there are some areas in urban environments where the signal is not available, as tunnels or streets with high buildings. A new method for 2D visual ego motion estimation in urban environments is presented in this paper. This method is based on a stereo-vision system where the feature road points are tracked frame to frame in order to estimate the movement of the vehicle, avoiding outliers from dynamic obstacles. The road profile is used to obtain the world coordinates of the feature points as a unique function of its left image coordinates. For these reasons it is only necessary to search feature points in the lower third of the left images. Moreover, the Kalman filter is used as a solution for filtering problem. That is, in some cases, it is necessary to filter raw data due to noise acquisition of time series. The results of the visual ego motion are compared with raw data from a GPS.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115666287","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: 17
An electronic system to combat drifting and traffic noises on Saudi roads 一种电子系统，可以对抗沙特道路上的漂移和交通噪音
2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232118
I. Dhaou
{"title":"An electronic system to combat drifting and traffic noises on Saudi roads","authors":"I. Dhaou","doi":"10.1109/IVS.2012.6232118","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232118","url":null,"abstract":"This paper proposes an electronic system to combat drifting and traffic noises in the urban area of Saudi Arabia. The proposed solution can be integrated into a smart city platform. The system comprises a sound processing hardware, a CCTV camera, and a GPRS module for wireless IP access. An algorithm to address drifting for noise and accidents is derived and tested over a range of audible traffic noises in Sakakah town. Hardware implementation of the algorithm using Radix-8, 64-point FFT algorithm, and a semiconductor intellectual property is elaborated. The results show that the algorithm produces no false alarm.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114892089","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
Estimating energy consumption for routing algorithms 路由算法的能量消耗估计
2012 IEEE Intelligent Vehicles Symposium Pub Date : 2012-06-03 DOI: 10.1109/IVS.2012.6232127
K. Kraschl-Hirschmann, M. Fellendorf
{"title":"Estimating energy consumption for routing algorithms","authors":"K. Kraschl-Hirschmann, M. Fellendorf","doi":"10.1109/IVS.2012.6232127","DOIUrl":"https://doi.org/10.1109/IVS.2012.6232127","url":null,"abstract":"Due to increased public discussion on global climate change and increased awareness of environmental issues in general, a variety of transport related strategies are being developed to reduce the energy consumption of road travel. Pre-trip journey planners and on-trip navigation systems are widely used to identify optimal routes. Travel time, trip distance and travel cost are usually used as criteria to search for the best route and suitable alternatives. However, energy use could also be used as a criterion in these systems to identify energy minimizing routes will be one measure to reduce fuel consumption. In order to identify these ”eco-friendly” routes, the energy consumption for each link of a network must be computed quickly and precisely. This paper presents an approach for calculating link energy consumption based on the actual power needed to overcome the driving resistance for each link using link travel speeds and v/c-ratios. The proposed method can be embedded in routing algorithms and be used as one component in the optimization of the route algorithm's generalized cost function.","PeriodicalId":402389,"journal":{"name":"2012 IEEE Intelligent Vehicles Symposium","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127540173","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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