DocumentCode :
3479749
Title :
Visual 3D target tracking for autonomous vehicles
Author :
Zhen Jia ; Balasuriya, A. ; Challa, S.
Author_Institution :
Sch. of EEE, Nanyang Technol. Univ.
Volume :
2
fYear :
2004
fDate :
1-3 Dec. 2004
Firstpage :
821
Lastpage :
826
Abstract :
In this paper, an algorithm is proposed to identify and track moving objects for the autonomous vehicles target following application. It is a difficult problem because both the targets and the cameras are moving. Here, optical flow fields, color features, stereo pair disparity are used as visual features while vehicles´ motion sensors are used to determine the camera motion. Then this paper proposes a data fusion algorithm which integrates information obtained from different visual cues and the camera motion sensor data. The fusion algorithm determines the speed and relative position of the interested target in the 3D world coordinate for the vehicle to track. This paper presents a detailed description of the three-dimensional (3D) target tracking algorithm using an extended Kalman filter. Experimental results are presented to demonstrate the performance of the proposed scheme using different image sequences
Keywords :
Kalman filters; image motion analysis; image sequences; mobile robots; nonlinear filters; robot kinematics; sensor fusion; stereo image processing; target tracking; traffic engineering computing; vehicles; autonomous vehicle; camera motion sensor data; color feature; data fusion algorithm; extended Kalman filter; image sequence; optical flow field; stereo pair disparity; vehicle motion sensor; visual 3D target tracking; Cameras; Image motion analysis; Image sequences; Mobile robots; Optical filters; Optical sensors; Remotely operated vehicles; Sensor fusion; Target tracking; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Cybernetics and Intelligent Systems, 2004 IEEE Conference on
Conference_Location :
Singapore
Print_ISBN :
0-7803-8643-4
Type :
conf
DOI :
10.1109/ICCIS.2004.1460694
Filename :
1460694
Link To Document :
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