Visual Confirmation of Mobile Objects Tracked by a Multi-layer Lidar

Integrity of the information provided by a perception system is crucial for advanced driver assistance systems intended for safety applications, like obstacle avoidance systems. A method to ensure integrity is to use different kinds of perception sources. Lidars are key sensors for multiple objects detection and tracking. Stereo vision systems (SVS) can be used to improve the tracking but, in this paper, we use also SVS to confirm the real existence of potential obstacles thanks to 3D dense reconstruction in focused regions of interest. Synchronization issues between the different sensors are addressed using predictive filtering. The proposed approach is evaluated in real conditions thanks to five use cases relevant to urban situations. Results show that this visual confirmation strategy is efficient.

• Record URL:
  https://doi.org/10.1109/ITSC.2010.5625200
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/isbn/9781424476572
• Authors:
  • Rodriquez F, Sergio A
  • Fremont, Vincent
  • Bonnifait, Philippe
  • Cherfaoui, Veronique
• Conference:
  • 13th International IEEE Conference on Intelligent Transportation Systems (ITSC 2010)
  • Location: Madeira Island , Portugal
  • Date: 2015-9-19 to 2015-9-22
• Publication Date: 2010

Language

• English

Media Info

• Media Type: Web
• Features: Figures; Photos; References; Tables;
• Pagination: pp 849-854

Subject/Index Terms

• TRT Terms: Computer vision; Driver support systems; Intelligent transportation systems; Laser radar; Proximity detectors; Radar tracking; Simulation; Tracking systems; Traffic safety
• Subject Areas: Data and Information Technology; Highways; Safety and Human Factors; I70: Traffic and Transport; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01337775
• Record Type: Publication
• Source Agency: UC Berkeley Transportation Library
• ISBN: 9781424476572
• Files: TLIB
• Created Date: Apr 25 2011 2:44PM