DocumentCode :
679267
Title :
Target-to-track collaborative association combining a laser scanner and a camera
Author :
Gruyer, Dominique ; Cord, Aurelien ; Belaroussi, Rachid
Author_Institution :
IFSTTAR, COSYS, Versailles, France
fYear :
2013
fDate :
6-9 Oct. 2013
Firstpage :
1125
Lastpage :
1130
Abstract :
Advance Driver Assistance Systems designed to enhance safety require a perception module that should be reliable, robust and affordable. We propose a new cooperative fusion method between two exteroceptive sensors for the detection and tracking of obstacles. Focus is cast on the issue of data association of asynchronous measurements from multiple sensors of different nature. This perception and detection module is applied to local perception embedded on a host vehicle (the ego-vehicle) with two types of complementary sensors (laser scanner and mono-camera). The first detection stage is performed by the mono-layer laser scanner which provides a set of clustered impact points. Those clusters are filtered and projected into the image to define targets. Detected vehicles are tracked using an image registration algorithm. A multi-objects association and tracking algorithm based on belief theory is implemented to estimate the dynamic state of the tracks and to monitor appearance and disappearance of obstacles. Our approach does not make any assumption on the type of driving maneuver and is able to address highly non linear dynamic configuration. The method is applied on both real data and in simulated environment for the validation stage.
Keywords :
cameras; driver information systems; filtering theory; image registration; object detection; object tracking; optical scanners; pattern clustering; sensor fusion; advance driver assistance systems; asynchronous measurement data association; belief theory; camera; cooperative fusion method; exteroceptive sensors; filtering; image registration algorithm; mono-layer laser scanner; multiobject association algorithm; multiobject tracking algorithm; obstacle detection; obstacle tracking; target-to-track collaborative association; Cameras; Laser radar; Lasers; Measurement by laser beam; Sensors; Target tracking; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Transportation Systems - (ITSC), 2013 16th International IEEE Conference on
Conference_Location :
The Hague
Type :
conf
DOI :
10.1109/ITSC.2013.6728383
Filename :
6728383
Link To Document :
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