NDLI: Kalman Particle Filter for lane recognition on rural roads

Content Provider	IEEE Xplore Digital Library
Author	Loose, H. Franke, U. Stiller, C.
Copyright Year	2009
Description	Author affiliation: Institute for Measurement and Control Theory, University of Karlsruhe, Germany (Stiller, C.) \|\| Daimler AG, Group Research & Advanced Engineering, Germany (Loose, H.; Franke, U.)
Abstract	Despite the availability of lane departure and lane keeping systems for highway assistance, unmarked and winding rural roads still pose challenges to lane recognition systems. To detect an upcoming curve as soon as possible, the viewing range of image-based lane recognition systems has to be extended. This is done by evaluating 3D information obtained from stereo vision or imaging radar in this paper. Both sensors deliver evidence grids as the basis for road course estimation. Besides known Kalman Filter approaches, Particle Filters have recently gained interest since they offer the possibility to employ cues of a road, which can not be described as measurements needed for a Kalman Filter approach. We propose to combine both principles and their benefits in a Kalman Particle Filter. The comparison between the results gained from this recently published filter scheme and the classical approaches using real world data proves the advantages of the Kalman Particle Filter.
Starting Page	60
Ending Page	65
File Size	2476921
Page Count	6
File Format	PDF
ISBN	9781424435036
ISSN	19310587
DOI	10.1109/IVS.2009.5164253
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-06-03
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kalman filters Particle filters Radar imaging Radar detection Image sensors Particle measurements Cameras Road transportation Stereo vision Radar tracking
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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