NDLI: Combining monocular and stereo-vision for real-time vehicle ranging and tracking on multilane highways

Content Provider	IEEE Xplore Digital Library
Author	Sivaraman, S. Trivedi, M.M.
Copyright Year	2011
Abstract	In this paper, we introduce a novel stereo-monocular fusion approach to on-road localization and tracking of vehicles. Utilizing a calibrated stereo-vision rig, the proposed approach combines monocular detection with stereo-vision for on-road vehicle localization and tracking for driver assistance. The system initially acquires synchronized monocular frames and calculates depth maps from the stereo rig. The system then detects vehicles in the image plane using an active learning-based monocular vision approach. Using the image coordinates of detected vehicles, the system then localizes the vehicles in real-world coordinates using the calculated depth map. The vehicles are tracked both in the image plane, and in real-world coordinates, fusing information from both the monocular and stereo modalities. Vehicles' states are estimated and tracked using Kalman filtering. Quantitative analysis of tracks is provided. The full system takes 46ms to process a single frame.
Starting Page	1249
Ending Page	1254
File Size	576530
Page Count	6
File Format	PDF
ISBN	9781457721984
ISSN	21530009
e-ISBN	9781457721977
DOI	10.1109/ITSC.2011.6082916
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-10-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Vehicle detection Three dimensional displays Trajectory Detectors Equations Feature extraction Machine Learning Active Safety Driver Assistance Real-time Vision Multi-sensor Fusion
Content Type	Text
Resource Type	Article

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