Improving the obstacle detection and identification algorithms of a laserscanner-based collision avoidance system

Transportation Research Part C: Emerging Technologies

Volumn 19, Issue 4, 2011, Pages 658-672

  Jiménez, Felipe ^a   Naranjo, José Eugenio ^b  

^a University Institute for Automobile Research (INSIA)   (Spain)

^b UNIVERSIDAD POLITÉCNICA DE MADRID   (Spain)

Author keywords

Algorithm; Laserscanner; Obstacle detection; Obstacle recognition; Obstacle tracking

Indexed keywords

ALGORITHMS; AUTOMOBILE DRIVERS; OBSTACLE DETECTORS; ROADS AND STREETS;

COLLISION AVOIDANCE SYSTEMS; LASER SCANNER; OBSTACLE DETECTION; OBSTACLE RECOGNITION; OBSTACLE TRACKING; POSITIONING SYSTEM; SAFETY OF VEHICLES; SEGMENTATION PROCESS;

ADVANCED DRIVER ASSISTANCE SYSTEMS;

ALGORITHM; COLLISION AVOIDANCE; DETECTION METHOD; ERROR ANALYSIS; POSITIONING SYSTEM; SCANNER;

EID: 79952739313     PISSN: 0968090X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.trc.2010.11.001     Document Type: Article

References (56)

1. Abou-Jaoude R. ACC radar sensor technology, test requirement and test solution. IEEE Transactions on Intelligent Transportation Systems 2003, 4(3):115-122.
2. Aparicio F., Páez J., Moreno F., Jiménez F., López A. Discussion of a new adaptive speed control system incorporating the geometric characteristics of the roadway. International Journal of Vehicle Autonomous Systems 2005, 3(1):47-64.
3. Aufrère R., Gowdy J., Mertz C., Thorpe C., Wang C., Yata T. Perception for collision avoidance and autonomous driving. Mechatronics 2003, 13:1149-1161.
4. Baum D., Hamman C.D., Schubert E. High performance ACC system based on sensor fusion with distance sensor, image processing unit and navigation system. Vehicle System Dynamics 1997, 28:327-338.
5. Broggi, A., Caraffi, C., Fedriga, R.I., Grisleri, P., 2005. Obstacle detection with stereo vision for off-road vehicle navigation. In: Proceedings of the International IEEE Workshop Machine Vision for Intelligent Vehicles, San Diego, June 2005.
6. Broggi, A., Cattani, S., Porta, P.P., Zani, P., 2006. A laser scanner-vision fusion system implemented on the TerraMax autonomous vehicle. In: Proceedings of the IEEE International Conference IROS, Beijing, China, October 2006.
7. Campbell J.L., Richard C.M., Brown J.L., McCallum M. Crash Warning System Interfaces: Human Factors Insights and Lessons Learned. Final Report DOT HS 810 697 2007, NHTSA.
8. Caraffi C., Cattani S., Grisleri P. Off-road path and obstacle detection using decision networks and stereo vision. IEEE Transactions on Intelligent Transportation Systems 2007, 8(4):607-618.
9. de la Escalera A., Armingol J.M., Pastor J.M., Rodriguez F.J. Visual sign information extraction and identification by deformable models for intelligent vehicles. IEEE Transactions on Intelligent Transportation Systems 2004, 5(2):57-68.
10. Dietmayer, K., Sparbert, J., Streller, D., 2001. Model based object classification and object tracking in traffic scenes from range images. In: Proceedings of the IEEE Intelligent Vehicle Symposium, Tokyo, 14-17 May 2001.
11. Dixit R., Rafaelli L. Radar Requirements and architecture trades for automotive applications. IEEE MTT-S International Microwave Symposium Digest 1997, IEEE, New York, NY, USA. G.A. Koepf (Ed.).
12. Elzein, H., Lakshmanan, S., Watta, P., 2003. A motion and shape-based pedestrian detection algorithm. In: Proceedings of IEEE Intelligent Vehicles Symposium, vol. 22, June 2003, pp. 500-504.
13. eSafety Forum Digital maps Working Group. Final Report 2005, European Commission (eSafety Forum), Brussels.
14. European Enhanced Vehicle Safety Committee WG 19, Primary and Secondary Safety Interaction. Final Report 2004, EEVC.
15. Ewald, A., Willfoeft, V., 2000. Laser scanners for obstacle detection in automotive applications. In: Proceedings of the IEEE Intelligent Vehicle Symposium, Dearborn, 3-5 October 2000.
16. Floudas, N., Polychronopoulos, A., Aycard, O., Burlet, J., Ahrholdt, M., 2007. High level sensor data fusion approaches for object recognition in road environment. In: Proceedings of the 2007 IEEE Intelligent Vehicles Symposium, Istanbul, Turkey, 13-15 June 2007.
17. Föulster F., Rohling H. Data association and tracking for automotive radar networks. IEEE Transactions on Intelligent Transportation Systems 2005, 6(4):370-377.
18. Fuerstenberg, K.Ch., Lages, U., 2003. Pedestrian detection and classification by laserscanners. In: 9th EAEC International Congress, Paris, June 2003.
19. Fuerstenberg, K.Ch., Roessler, B., 2008. Results of the EC project INTERSAFE. In: Proceedings of AMAA 2008, 12th International Conference on Advanced Microsystems for Automotive Applications, Berlin, March 2008.
20. Fuerstenberg, K.Ch., Baraud, P., Caporaletti, G., Citelli, S., Eitan, Z., Lages, U., Lavergne, C., 2001. Development of a pre-crash sensorial system - the CHAMELEON project. In: Proceedings of Joint VDI/VW Congress Vehicle Concepts for the 2nd Century of Automotive Technology, Wolfsburg, Germany, November 2001.
21. Fuerstenberg, K.Ch., Dietmayer, K.C.J., Eisenlauer, S., 2002. Multilayer laserscanner for robust object tracking and classification in urban traffic scenes. In: 9th World Congress on Intelligent Transport Systems, Chicago, November 2002.
22. Gavrila, D.M., Kunert, M., Lages, U., 2001. A multi-sensor approach for the protection of vulnerable traffic participants - the PROTECTOR project. In: IEEE Instrumentation and Measurement Technology Conference, vol. 3, Budapest, Hungary, pp. 2044-2048.
23. Gern, A., Franke, U., Levi, P., 2000. Advanced lane recognition - fusing vision and radar. In: Proceedings of the IEEE Intelligent Vehicles Symposium, Dearborn (MI), USA, 3-5 October 2000.
24. Guivant J., Nebot E., Baiker S. Autonomous navigation and map building using laser range sensors in outdoor applications. Journal of Robotic Systems 2000, 17(10):565-583.
25. Jiménez, P., Nuevo, J., Bergasa, L.M., 2008. Face pose estimation and tracking using automatic 3D model construction. In: 2008 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops, Alaska, 24-26 June 2008.
26. Jiménez F., Aparicio F., Estrada G. Measurement uncertainty determination and curve fitting algorithms for development of accurate digital maps for Advanced Driver Assistance Systems. Transportation Research Part C: Emerging Technologies 2009, 17(3):225-239.
27. Jiménez, F., Naranjo, J.E., García, F., Aparicio, F., Zato, J.G., Armingol, J.M., de la Escalera, A., 2009b. Analysis of inertial measurement systems limitations for vehicle positioning in new ADAS applications. In: 16th World Congress and Exhibition on Intelligent Transport Systems and Services, Stockholm (Sweden), 21-25 September 2009.
28. Kato T., Ninomiya Y., Masaki I. An obstacle detection method by fusion of radar and motion stereo. IEEE Transactions on Intelligent Transportation Systems 2002, 3(3):182-188.
29. Kirchner, A., Ameling, C., 2000. Integrated obstacle and road tracking using a laser scanner. In: Proceedings of the IEEE Intelligent Vehicle Symposium, Dearborn, 3-5 October 2000.
30. Labayrade, R., Royere, C., Gruyer, D., Aubert, D., 2003. Cooperative fusion for multi-obstacles detection with use of stereovision and laser scanner. In: IEEE iCAR 2003, Coimbra, 30 June-3 July 2003.
31. Labayrade, R., Royere, C., Aubert, D. 2005. A collision mitigation system using laser scanner and stereovision fusion and its assessment. In: Proceedings of the IEEE Intelligent Vehicle Symposium, Las Vegas, Nevada, USA, 6-8 June 2005.
32. Langheim, J., Buchanan, A., Lages, U., Wahl, M., 2001. New environment sensing for advanced driver assistance systems. In: Proceedings of IV2001, IEEE Intelligent Vehicles Symposium IV, Tokyo, 2001.
33. Le Beux, S., Gagné, V., Aboulhamid, E.M., Marquet, P., Dekeyser, J.L., 2006. Hardware/software exploration for an anti-collision radar system. In: The 49th IEEE International Midwest Symposium on Circuits and Systems, San Juan, Puerto Rico, August 2006.
34. Llorca D.F., Sotelo M.A., Parra I., Ocana M., Bergasa L.M. Error analysis in a stereo vision-based pedestrian detection sensor for collision avoidance applications. Sensors 2010, 10(4):3741-3758.
35. Loewenau, J., Hummelsheim, K., Bendafi, H., Entenmann, V., Marquet, J., Lilli, F., Sabel, H., 2002. Final Enhanced Map Database Requirements. NextMAP Project. Deliverable 2.2.
36. Mende R., Zander A. A Multifunctional Automotive Short Range Radar System 2004, Smart Microwave Systems, GmbH.
37. Najm W.G., Smith J.D. Development of Crash Imminent Test Scenarios for Integrated Vehicle-based Safety Systems (IVBSS). DOT HS 810 757 2007, NHTSA, Virginia.
38. Naranjo J.E., Jiménez F., Aparicio F., Zato J. Comparative study of GPS and inertial systems for high precision positioning on highways. The Journal of Navigation 2009, 62(2):351-363.
39. Pierowicz J., Jocoy P., Lloyd M., Bittner A., Pirson B. Intersection Collision Avoidance Using ITS Countermeasures Task 9: Final Report (Report No. DOT HS 809 171) 2000, National Highway Traffic Safety Administration, Washington, DC.
40. Polychronopoulos A., Tsogas M., Amditis A.J., Andreone L. Sensor fusion for predicting vehicles' path for collision avoidance systems. IEEE Transactions on Intelligent Transportation Systems 2007, 8(3):549-562.
41. Rohr, S.N., Lind, R.C., Myers, R.J., Bauson, W.A., Kosiak, W.K., Yen, H., 2000. An integrated approach to automotive safety systems. SAE Technical Paper Series. Paper No. 2000-01-0346.
42. Scharenbroch G. Safety Vehicles using Adaptive Interface Technology. Technology Review 2005, Delphi Electronics & Safety Systems.
43. Shearman E.D.R., Hoare E.G., Hutton A. Trials of Automotive Radar and Lidar Performance in Road Spray 1998, IEE - The Institution of Electrical Engineers.
44. Shimonura N., Fujimoto K., Oki T., Muro H. An algorithm for distinguishing the types of objects on the road using laser radar and vision. IEEE Transactions on Intelligent Transportation Systems 2002, 3(3):189-195.
45. Soetedjo A., Yamada K. Traffic sign classification using ring partitioned method. IEICE Transactions on Fundamentals of Electronics, Communications and Computer Sciences 2005, E 88-A(9):2419-2426.
46. Sparbert, J., Dietmayer, K., Streller, D., 2001. Lane detection and street type classification using laser range images. In: 4th International IEEE Conference on Intelligent Transportation Systems, Oakland, 25-29 August 2001.
47. Spies M., Spies H. Automobile lidar sensorik: stand, trends und zukünftige herausforderungen. Advances in Radio Science 2006, 4:99-104.
48. Streller, D., Dietmayer, K., Sparbert, J., 2001. Object tracking in traffic scenes with multi-hypothesis approach using laser range images. In: International Conference on Intelligent Transportation Systems, Sydney, October 2001.
49. Streller, D., Fuerstenberg, K.Ch, Dietmayer, K., 2002. Vehicle and object models for robust tracking in traffic scenes using laser range images. In: 5th International IEEE Conference on Intelligent Transportation Systems, Singapore, 3-6 September 2002.
50. Tokoro, S., Kuroda, K., Nagao, T., Kawasaki, T., Yamamoto, T., 2003. Pre-crash sensor for pre-crash safety. In proceedings of the 18th International Conference on Enhanced Safety of Vehicles, Nagoya (Japan), 19-22 May 2003.
51. Tokoro, S., Moriizumi, M., Kawasaki, T., Nagao, T, Abe, K., Fujita, K., 2004. Sensor fusion system for pre-crash safety system. In: 2004 IEEE Intelligent Vehicles Symposium University of Parma, Parma, Italy, 14-17 June 2004.
52. Topham, D., Ford, G., Ward, D., Zott, C., Mortara, P., 2006. Vehicle Probe Use Cases and Test Scenarios. SAFESPOT Project (SP1 - SAFEPROBE - In Vehicle Sensing and Platform). Deliverable D1.2.1.
53. Wender, S., Fuerstenberg, K.Ch., Dietmayer, K., 2004. Object tracking and classification for intersection scenarios using a multilayer laserscanner. In: Proceedings of the 11th World Congress on Intelligent Transportation Systems, Nagoya (Japan), October 2004.
54. Wender, S., Schoenherr, M., Kaempchen, N., Dietmayer, K., 2005. Classification of laserscanner measurements at intersection scenarios with automatic parameter optimization. In: Proceedings of IEEE Intelligent Vehicles Symposium, Las Vegas, June 2005, pp. 94-99.
55. Wender S., Weiss T., Fuerstenberg K.Ch., Dietmayer K. Object classification exploiting high level maps of intersections. Advanced Microsystems for Automotive Applications 2006, 187-203.
56. Widmann, G., Daniels, M., Hamilton, L., Humm, L., Riley, B., Schiffmann, J.K., Schnelkery, D.E., Wishon, W.H., 2000. Comparison of lidar-based and radar-based adaptive cruise control systems. SAE Technical Paper Series. SAE 2000 World Congress. Paper No. 2000-01-0345. Detroit Michigan, 6-9 March 2000.