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Image and Laser Scanner Processing as Confident Cues for Object Detection in Driving Situations

Catala-Prat, Alvaro and Köster, Frank and Reulke, Ralf (2010) Image and Laser Scanner Processing as Confident Cues for Object Detection in Driving Situations. ISPRS Commission V Mid-Term Simposium 'Close Range Image Measurement Techniques' , 22.-24. Jun. 2010, Newcastle upon Tyne, Großbritanien. ISSN 1682-1777

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Abstract

In the area of advanced driver assistance and automation systems knowledge about the vehicle environment is becoming more and more important in order to increase traffic safety. This paper is concerned with the detection and tracking of objects in the proximity of the ego-vehicle while driving on highways. For this purpose, a camera sensor and a laser scanner are used. The processed data of the sensors is then fused at object level in a competitive way. The paper focuses on the generation of object observations by applying the mentioned sensors. In the case of the camera system, an image processing method based on texture information is presented. The texture information is adaptively calculated in order to be independent of the lighting conditions. Taking into account knowledge about the image structure in driving situations, texture segments are classified and object observations are generated. In comparison to other methods, objects are detected independently of any features, model and movement assumptions. For object generation from laser scanner data, a method characterizing detected object contours by means of a shape indicator (long, corner, round, concave etc.) is proposed. Different to other works in this field, in the method presented here explicitly obtains the objects’ optimal reference point and the observability of the objects’ components. The experiments conducted both with simulated and real data show the plausibility of the methods to be used as cues for an object fusion system.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Image and Laser Scanner Processing as Confident Cues for Object Detection in Driving Situations
Authors:
AuthorsInstitution or Email of Authors
Catala-Prat, AlvaroUNSPECIFIED
Köster, FrankUNSPECIFIED
Reulke, RalfUNSPECIFIED
Date:22 June 2010
Refereed publication:Yes
In ISI Web of Science:No
Page Range:pp. 131-136
Editors:
EditorsEmail
Mills, J.P.UNSPECIFIED
Barber, D.M.UNSPECIFIED
Miller, P.E.UNSPECIFIED
Newton, I.UNSPECIFIED
ISSN:1682-1777
Status:Published
Keywords:Environment, Object, Detection, Laser scanning, Image, Texture, Segmentation, Fusion
Event Title:ISPRS Commission V Mid-Term Simposium 'Close Range Image Measurement Techniques'
Event Location:Newcastle upon Tyne, Großbritanien
Event Type:international Conference
Event Dates:22.-24. Jun. 2010
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrerassistenz (old)
Location: Braunschweig
Institutes and Institutions:Institute of Transportation Systems > Automotive
Deposited By: Alvaro Catala Prat
Deposited On:19 Jul 2010 13:09
Last Modified:21 Feb 2011 12:00

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