Schäfer, Jörg Peter und Böker, Clarissa und Schmälzle, Philipp und Junghans, Marek (2024) Spatio-Temporal Alignment between Cooperative Sensor Platforms. 27th IEEE International Conference on Intelligent Transportation Systems, 2024-09-24 - 2024-09-27, Edmonton, Kanada.
PDF
- Nur DLR-intern zugänglich
1MB |
Kurzfassung
Cooperative perception, while increasingly feasible, remains a complex topic. One of its key challenges is the spatio-temporal alignment of loosely coupled sensor platforms. This is particularly difficult when independent parties maintain the platforms and only exchange information via V2X messages. In this context, we assume spatial misalignment and a signifi- cant deviation between the platform's unsynchronized clocks. We propose a novel method to address the problem of spatio-temporal alignment. Our method is unique in that it solves this issue without prior knowledge but the detected objects provided by both sensor platforms. Our solution applies a Gaussian Mixture Model on the locally detected objects to maximize the likelihood of the objects retrieved via V2X communication. We furthermore interpolate this probability density function using tracking information of the locally detected objects, which enables us to optimize for the spatial transformation and estimate the clock's deviation. We applied our method to synthetic and real-world data recorded at an intersection in Ingolstadt, Germany, significantly reducing the average Euclidean distance between matching objects. This practical application has not only validated our approach but also opened up possibilities for further cooperative perception tasks.
elib-URL des Eintrags: | https://elib.dlr.de/207827/ | ||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||
Titel: | Spatio-Temporal Alignment between Cooperative Sensor Platforms | ||||||||||||||||||||
Autoren: |
| ||||||||||||||||||||
Datum: | 26 September 2024 | ||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | Cooperative Techniques and Systems, Sensing, Vision, and Perception | ||||||||||||||||||||
Veranstaltungstitel: | 27th IEEE International Conference on Intelligent Transportation Systems | ||||||||||||||||||||
Veranstaltungsort: | Edmonton, Kanada | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 24 September 2024 | ||||||||||||||||||||
Veranstaltungsende: | 27 September 2024 | ||||||||||||||||||||
Veranstalter : | IEEE Intelligent Transportation Systems Society | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Verkehr | ||||||||||||||||||||
HGF - Programmthema: | Straßenverkehr | ||||||||||||||||||||
DLR - Schwerpunkt: | Verkehr | ||||||||||||||||||||
DLR - Forschungsgebiet: | V ST Straßenverkehr | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | V - KoKoVI - Koordinierter kooperativer Verkehr mit verteilter, lernender Intelligenz | ||||||||||||||||||||
Standort: | Berlin-Adlershof , Braunschweig | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Verkehrssystemtechnik > Kooperative Systeme, BS Institut für Verkehrssystemtechnik > Kooperative Systeme, BA Institut für Verkehrssystemtechnik > Informationsgewinnung und Modellierung, BA | ||||||||||||||||||||
Hinterlegt von: | Böker, Clarissa | ||||||||||||||||||||
Hinterlegt am: | 28 Okt 2024 13:24 | ||||||||||||||||||||
Letzte Änderung: | 28 Okt 2024 13:24 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags