An Embedded Multi-Modal System for Object Localization and Tracking

Reliable obstacle detection and localization is a key issue for driver assistance systems, particularly in urban environments. In this study a multi-modal perception approach is investigated, the objective being to enhance vehicle localization and dynamic object tracking in a world-centric map. A three-dimensional (3D) ego-localization is achieved by merging information from a stereo vision system and data obtained from vehicle sensors. Mobile objects are detected using a multi-layer lidar that is also used to identify a constrained search space within the multiple target tracking process. Object localization and tracking is then performed in the fixed frame, which facilitates analysis and understanding of the scene. Experimental results using real world data are performed to evaluate the performance of the multi-modal system, and these are presented to show the effectiveness of the approach.

• Record URL:
  https://doi.org/10.1109/MITS.2012.2217855
• Record URL:
  http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6308619
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/19391390
• Supplemental Notes:
  • Abstract used with permission from the publisher.
• Authors:
  • Rodriguez F, Sergio A
  • Fremont, V
  • Bonnifait, P
  • Cherfaoui, V
• Publication Date: 2012

Language

• English

Media Info

• Media Type: Print
• Features: Figures; Photos; References;
• Pagination: pp 42-53
• Serial:
  • IEEE Intelligent Transportation Systems Magazine
  • Volume: 4
  • Issue Number: 4
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1939-1390
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=5117645

Subject/Index Terms

• TRT Terms: Detectors by object of detection; Driver support systems; Embedded systems; Laser radar; Multimodal transportation; Urban areas
• Uncontrolled Terms: Localization
• Subject Areas: Highways; Operations and Traffic Management; Vehicles and Equipment; I73: Traffic Control; I91: Vehicle Design and Safety;

Filing Info

• Accession Number: 01455115
• Record Type: Publication
• Files: TRIS
• Created Date: Nov 29 2012 9:00AM