Browse > Article
http://dx.doi.org/10.5391/IJFIS.2009.9.3.232

On-road Vehicle Tracking using Laser Scanner with Multiple Hypothesis Assumption  

Ryu, Kyung-Jin (School of Electric and Electronic Eng. Yonsei Univ.)
Park, Seong-Keun (School of Electric and Electronic Eng. Yonsei Univ.)
Hwang, Jae-Pil (School of Electric and Electronic Eng. Yonsei Univ.)
Kim, Eun-Tai (School of Electric and Electronic Eng. Yonsei Univ.)
Park, Mignon (School of Electric and Electronic Eng. Yonsei Univ.)
Publication Information
International Journal of Fuzzy Logic and Intelligent Systems / v.9, no.3, 2009 , pp. 232-237 More about this Journal
Abstract
Active safety vehicle devices are getting more attention recently. To prevent traffic accidents, the environment in front and even around the vehicle must be checked and monitored. In the present applications, mainly camera and radar based systems are used as sensing devices. Laser scanner, one of the sensing devices, has the advantage of obtaining accurate measurement of the distance and the geometric information about the objects in the field of view of the laser scanner. However, there is a problem that detecting object occluded by a foreground one is difficult. In this paper, criterions are proposed to manage this problem. Simulation is conducted by vehicle mounted the laser scanner and multiple-hypothesis algorithm tracks the candidate objects. We compare the running times as multi-hypothesis algorithm parameter varies.
Keywords
Active safety systems; laser scanner; occlusion; multi-hypothesis; multi-target tracking;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 D. H. Kim, "Multi-vehicle Route Selection Based on an Ant System," IJFIS, vol.8, no.1, pp. 61~67, 2008   과학기술학회마을   DOI
2 D.-Y. Im, Y.-J. Ryoo, Y.-Y. Jung, J. Lee, Y.-H. Chang, S.-H. Kim and J.-H. Park, "Development of Autonomous Vehicle Using Array Magnetic Sensor," ISIS 2007 Proc. of 8th Symp. on Adv. Intel. Sys., pp. 914~918, 2007
3 E.-K. Lim, Y.-J. Kim, D.-S. Kim and K.-B. Kim, "Recognition of Car License Plates using Morphological Information and SOM Algorithm,", ISIS 2003 Proc. of 4th Intern. Symp. on Adv. Intel. Sys., pp. 648~651, 2003   과학기술학회마을
4 D. Streller, K. Dietmayer, J. Sparbert, "Object Tracking in Traffic Scenes with Multi-Hypothesis Approach using Laser Range Images," Proc. ITS 2001, 8th World Congress on Intelligent Transport Systems, Sydney, Australia, 2001
5 D. Streller, K. Dietmayer, "Object tracking and classification using a multiple hypothesis approach," Proc. Intelligent Vehicles Symposium, IEEE, pp. 808~812, 2004
6 Y. Obata, M. Ito, S. Tsujimichi, Y. Kosuge, "Computation-time Reduction of Track Oriented Multiple Hypothesis Tracking," Proc. the 40th SICE Annual Conference, pp. 282~287, 2001
7 D. Streller, K. Furstenberg, K. Dietmayer, "Vehicle and object models for robust tracking in traffic scenes using laser range images," Proc. Intelligent Transportation Systems, pp. 118~123, 2002
8 K. Nishimori, M. Okada, N. Ishihara and H. Tokutaka, "Vision System for Fuzzy Driving Control of an Automatic Vehicle," Proc. of 3rd Intern. Conf. on Fuzzy Logic, Neural Nets and Soft Comp., pp. 231~232, 1994
9 R. MacLachlan, C. Mertz, "Tracking of Moving Objects from a Moving Vehicle Using a Scanning Laser Rangefinder," Proc. Intelligent Transportation Systems, IEEE, pp. 301~306, 2006
10 K. Fuerstenberg, K. Dietmayer, V. Willhoeft, "Pedestrian Recognition in Urban Traffic using a vehicle based Multilayer Laserscanner," Proc. IV 2002, IEEE Intelligent Vehicles Symposium, pp. 31~35, 2002
11 D. Streller, K. Dietmayer, "Multiple hypothesis classification with laser range finders," Proc. Intelligent Transportation Systems, IEEE, pp. 195~200, 2004
12 J. Sparbert, K. Dietmayer, D. Streller, "Lane detection and street type classification using laser range images," Proc. Intelligent Transportation Systems ,IEEE, pp. 454~459, 2001