Title :
Road structure based scene understanding for intelligent vehicle systems
Author :
Tsukada, Akihiro ; Ogawa, Masahiro ; Galpin, Franck
Abstract :
We address the topic of intelligent vehicle systems and especially systems aiming at high level scene understanding. Our goal is to build an on-line Behavior Map of surrounding environment. In this case, the road structure becomes important in order to understand entities behavior. From a general view-point, this paper demonstrates two important concepts: 1) the smooth integration of global, absolute but partial information (the Navi Map) in a local and relative map (the Behavior Map). This is demonstrated by the building of the Behavior Map composed of the roads structure and pedestrian/vehicle´s position and trajectory. 2) the use of both global and local information to improve the understanding of the environment. This is demonstrated by the proposed “Pedestrian Warning System”. From a technical viewpoint, the main contributions are: 1) the dual ground plane/image plane approach which avoid introduction of errors in both the cost function evaluation and the constraints for minimization, 2) the smooth and efficient integration of prior data in a realistic road model computation when they are available.
Keywords :
alarm systems; automated highways; cartography; traffic information systems; intelligent vehicle systems; navi map; online behavior map; pedestrian warning system; road structure based scene understanding;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6674-0
DOI :
10.1109/IROS.2010.5653532