Browse > Article
http://dx.doi.org/10.7746/jkros.2015.10.1.033

Accurate Parked Vehicle Detection using GMM-based 3D Vehicle Model in Complex Urban Environments  

Cho, Younggun (Electrical Engineering, KAIST)
Roh, Hyun Chul (Robotics Program, KAIST)
Chung, Myung Jin (Electrical Engineering, KAIST)
Publication Information
The Journal of Korea Robotics Society / v.10, no.1, 2015 , pp. 33-41 More about this Journal
Abstract
Recent developments in robotics and intelligent vehicle area, bring interests of people in an autonomous driving ability and advanced driving assistance system. Especially fully automatic parking ability is one of the key issues of intelligent vehicles, and accurate parked vehicles detection is essential for this issue. In previous researches, many types of sensors are used for detecting vehicles, 2D LiDAR is popular since it offers accurate range information without preprocessing. The L shape feature is most popular 2D feature for vehicle detection, however it has an ambiguity on different objects such as building, bushes and this occurs misdetection problem. Therefore we propose the accurate vehicle detection method by using a 3D complete vehicle model in 3D point clouds acquired from front inclined 2D LiDAR. The proposed method is decomposed into two steps: vehicle candidate extraction, vehicle detection. By combination of L shape feature and point clouds segmentation, we extract the objects which are highly related to vehicles and apply 3D model to detect vehicles accurately. The method guarantees high detection performance and gives plentiful information for autonomous parking. To evaluate the method, we use various parking situation in complex urban scene data. Experimental results shows the qualitative and quantitative performance efficiently.
Keywords
3D Vehicle Model; 2D LiDAR; Fully Automatic Parking Ability; L shape feature; Point Clouds Segmentation; Vehicle Detection; Complex Urban Environments;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
연도 인용수 순위
1 2013 Korea autonomous vehicle contest website, http://autonomous.ksae.org/
2 Noh Chi-Beom, Kim Min-Ho, Lee Min-Cheol, " Path Planning for the Shortest Driving Time Considering UGV Driving Characteristic and Driving Time and Its Driving Algorithm." Journal of Korea Robotics Society, Vol. 8, No. 1, pp. 43-50, 2013.   과학기술학회마을   DOI   ScienceOn
3 W. J. Park, B. S. Kim, D. E. Seo, D. S. Kim and K. H. Lee, "Parking Space Detection Using Ultrasonic Sensor in Parking Assistance System," in IEEE Intell. Veh. Symp., pp. 1039-1044, 2008.
4 J. K. Suhr and H. G. Jung, "Full-automatic recognition of various parking slot markings using a hierarchical tree structure", in Optical Engineering, vol. 53, num. 3, pp. 037203-1-037203-14, Mar. 2013.
5 A. Petrovskaya and S. Thrun, "Model based vehicle detection and tracking for autonomous urban driving," in Auton. Robot., vol 26, pp. 123-137, Arp. 2009.   DOI
6 J. Zhou, L. E. Navarro-Serment and M. Hebert, "Detection of Parking Spots Using 2D Range Data," in IEEE 15th Int. Conf. Intell. Transp. Syst., 2012, pp. 1280-1287.
7 H. C. Roh, C. H. Sung and M. J. Chung, "Fast Vehicle Detection Using Orientation Histogram and Segmented Line Projection", in Int. Conf. Ubiquitous Robots and Ambient Intelligence(URAI), Nov. 2012.
8 Bo Gil Seo, Yungeun Choe, Hyun Chul Roh and Myung Jin Chung, "A Clustering Method for Efficient Segmentation of 3D Laser Data", Journal of Korea Robotics Society, Vol. 9, No. 2, pp. 1-10, 2014.   DOI
9 S. U. Ahn, Y. G. Choe, M. J. Chung, "Fast Scene Understanding in Urban Environments for an Autonomous Vehicle equipped with 2D Laser Scanners", The Journal of Korea Robotics Society, Vol. 7, No. 2, pp. 92 - 100, 2012.   과학기술학회마을   DOI
10 Y. G. Cho and M. J. Chung, "A 3D Feature Model for Urban Road Vehicle Detection", Int. Symp. Distributed Autonomous Robotic Systems (DARS), 2014.
11 B. Douillard, J. Underwood, N. Kuntz, V. Vlaskine, A. Quadros, P. Morton, and A. Frenkel, "On the segmentation of 3D LIDAR point clouds", IEEE Int. Conf. Robotics and Automation (ICRA), pp. 2798-2805, 2011, May.