Towards Detection and Tracking of On-Road Objects
Authors: Roland Göcke, Niklas Pettersson, and
Lars Petersson
Presented by Niklas Pettersson at the 2007 IEEE Intelligent Vehicles
Symposium IV'07, Istanbul, Turkey, 13-15 June 2007. IEEE.
Abstract
In this paper, we present a system capable of detecting and tracking
on-road objects in the scene, in particular vehicles. Such a system is
a useful part of a driver assistance system. This system employs two
different techniques in the detection phase to increase the robustness.
A large part of this paper is devoted to reducing the computational amount
required of the overall algorithm by quickly excluding pixels above the
horizon and on the road surface. The number of pixels that require
further, computationally expensive processing is reduced by up to 65% in
the sequences used in the experimental evaluation. Objects are detected
in the remaining image areas by an improved boosting approach of weak
classifiers based on the well-known AdaBoost and RealBoost approaches. The
tracking is then done by a combination of periodically running the
detection algorithm, while using adaptable templates at other times which
allow for changes in shape and appearance as the car and the other
vehicles travel along the road.
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Bibtex Entry
@INPROCEEDINGS{goecke_asthana_pettersson_petersson2007,
AUTHOR = {R. Goecke and N. Pettersson and L. Petersson},
TITLE = {{Towards Detection and Tracking of On-Road Objects}},
BOOKTITLE = {{Proceedings of the 2007 IEEE Intelligent Vehicles Symposium IV'07}},
PUBLISHER = {IEEE},
ADDRESS = {Istanbul, Turkey},
VOLUME = ,
PAGES = {416--421},
MONTH = jun,
YEAR = 2007}
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