Abstract
The use of sensor data for observing the surrounding environment of a vehicle is becoming increasingly popular. Especially for detecting dangerous situations, which occur too fast for the human senses, sensor systems are needed. In the following paper such a sensor system consisting of a stereo camera and a multilayer laser scanner mounted in front of a test vehicle is introduced. Both sensors are used to detect and track obstacles and other traffic objects independent from each other for future data fusion. An overview of the complete process for the object discrimination including a novel approach for a sensor cross calibration and a new method for the object refinement and the object tracking is given. The effectiveness of the algorithms are tested with real road reference data, obtained through highly precise GPS data.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Boehringer, F.: Gleisselektive Ortung von Schienenfahrzeugen mit bordautonomer Sensorik. Universitt Karlsruhe, PhD: 178 (2008)
Brown, D.C.: Close-range camera calibration. In: Photogrammetric Engineering, pp. 855–866 (1971)
Catala Prat, A., Reulke, R., Kstner, F.: Early Detection of hazards in driving situations trough multi sensor fusion. In: Proc. of FISITA World Automotive Congress, pp. 527–536 (2008)
Fang, Y., Masaki, I., Horn, B.: Depth-based target segmentation for intelligent vehicles:fusion of radar and binocular stereo. IEEE Trans. Intell. Transp. Syst. 3(3), 196–202 (2002)
Fitzgibbon, A., Pilu, M., Fisher, R.B.: Direct Least Square Fitting of Ellipses. IEEE Transactions on Pattern Analysis and Machine Intelligence 21(5), 476–480 (1999)
Fuerstenberg, K.C., Dietmayer, K.: Pedestrian Recognition and Tracking of Vehicles using a vehicle based Multilayer Laserscanner. In: 10th World Congress on Intelligent Transport Systems, Madrid, Spain (2003)
Haberjahn, M.: Cross-Kalibrierung eines Mehrzeilen-Laserscanner- und Stereokamera-Systems zur Fahrzeugumfelderfassung. 3D-Nordost 2009, Berlin, Germany (2009)
Horn, B.K.P.: Closed-form solution of absolute orientation using unit quaternions. J. Opt. Soc. Amer. A 4(4), 629–642 (1987)
Huang, Y., Fu, S., Thompson, C.: Stereovision-Based Object Segmentation for Automotive Applications. EURASIP Journal on Applied Signal Processing, 2322–2329 (2005)
Kormann, B., Neve, A., Klinker, G., Stechele, W.: Stereo Vision Based Vehicle Detection. In: International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications, VISIGRAPH 2010. Angers, France, pp. 17–21 (2010)
Kumar, S., Gupta, D., Yadav, S.: Sensor Fusion of Laser & Stereo Vision Camera for Depth Estimation and Obstacle Avoidance. International Journal of Computer Application 1(26) (2010)
Perollaz, M., Labayrade, R., Royere, C., Hautière, N., Aubert, D.: Long Range Obstacles Detection Using Laser Scanner and Stereovision. In: Procs. IEEE Intelligent Vehicles Symposium 2006, Tokyo, Japan, pp. 182–187 (2006)
Pilu, M.: Uncalibrated Stereo Correspondence by Singular Value Decomposition. Technical Report HPL-97-96, Digital Media Department, HP Laboratories Bristol (1997)
Rietdorf, A.: Automatisierte Auswertung und Kalibrierung von scannenden Messsystemen mit tachymetrischem Messprinzip. PhD thesis, Technische Universitt Berlin (2005)
Santolaria, J., Pastor, J.J., Brosed, F.J., Aguilar, J.J.: A one-step intrinsic and extrinsic calibration method for laser line scanner operation in coordinate measuring machines. Electronic Journals - Measurement Science and Technology 20 (2009)
Wender, S., Dietmayer, K.: 3D Vehicle Detection using a Laser Scanner and a Video Camera. In: 6th European Congress on ITS, Aalborg (2007)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Haberjahn, M., Reulke, R. (2011). Object Discrimination and Tracking in the Surroundings of a Vehicle by a Combined Laser Scanner Stereo System. In: Koch, R., Huang, F. (eds) Computer Vision – ACCV 2010 Workshops. ACCV 2010. Lecture Notes in Computer Science, vol 6469. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-22819-3_23
Download citation
DOI: https://doi.org/10.1007/978-3-642-22819-3_23
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-22818-6
Online ISBN: 978-3-642-22819-3
eBook Packages: Computer ScienceComputer Science (R0)