DocumentCode :
382747
Title :
Vehicle and object models for robust tracking in traffic scenes using laser range images
Author :
Streller, Daniel ; Fürstenberg, Kay ; Dietmayer, Klaus
Author_Institution :
Dept. of Meas. Control & Microtechnology, Ulm Univ., Germany
fYear :
2002
fDate :
2002
Firstpage :
118
Lastpage :
123
Abstract :
Detection and modeling of dynamic traffic scenes around a, driving passenger car is the long-term aim of the research project ARGOS at the University of Ulm. Each object close to the own car should be modeled and tracked using a specific individual dynamic model. The object classification is based on the geometric outlines and the dynamic behavior. For any sensor combinations usable to detect the environment, the velocity of the objects can be measured relatively to the movement of own vehicle. To. get the absolute velocity of the objects, the motion of the own vehicle must be measured for which the well know bicycle model is used. This ego-model is fed by sensor signals provided anyway by ABS, ASR or ESP. To eliminate the own motion from the object measurements, several coordinate transformations are required in the different stages of data processing. A proposal is given on how to solve this problem when using a laser range finder as a sensing device. Moreover, a simple object model is introduced for this task in order to save processing power. The algorithms can extended towards a multihypothesis approach which will result a more robust classification and tracking algorithm.
Keywords :
automotive electronics; driver information systems; image classification; image motion analysis; image processing; laser ranging; optical tracking; ARGOS; bicycle model; dynamic model; dynamic traffic scenes; ego-model; geometric outlines; laser range finder; laser range images; multihypothesis approach; object classification; object models; passenger car; robust tracking; vehicle models; Bicycles; Laser modes; Layout; Motion measurement; Object detection; Robustness; Traffic control; Vehicle detection; Vehicle dynamics; Velocity measurement;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Transportation Systems, 2002. Proceedings. The IEEE 5th International Conference on
Print_ISBN :
0-7803-7389-8
Type :
conf
DOI :
10.1109/ITSC.2002.1041199
Filename :
1041199
Link To Document :
بازگشت