NDLI: Position estimation and multiple obstacles tracking method based on stereo vision system

Content Provider	IEEE Xplore Digital Library
Author	Young-Chul Lim Chung-Hee Lee Soon Kwon Jong-hun Lee
Copyright Year	2009
Description	Author affiliation: Division of advanced industrial science and technology, Deagu Gyeongbuk Institute of Science & Technology, Room 201, 2nd floor, Deagu Technopark Venture 1 Plant, 75 Gongdanbuk2gil, Dalseo-gu, Korea (Young-Chul Lim; Chung-Hee Lee; Soon Kwon; Jong-hun Lee)
Abstract	In this paper, we present a method to estimate obstacles' position and track multiple obstacles on the road based on a stereo vision system. A stereo vision system can measure distance to an obstacle using disparity. However, this system has several problems such as sampling error, geometric problems due to the installation of a stereo camera, and image distortion in the calibration and rectification processes that cause deterioration in accuracy and reliability. We utilize a multi-layer perceptron (MLP) method to correct mean error, and also a strong tracking interacting multiple model (ST-IMM) Kalman filter is proposed to minimize the error variance. The ST-IMM has robustness for maneuver and non-stationary error variance. ST-IMM has an advantage that one model can complement another model's shortcomings by using several sub-models. A simple data association method based on nearest neighborhood filtering is proposed to track multiple obstacles. The experiment results show that our algorithms can estimate the target's position and track multiple objects within about 4% distance error in range of 10 to 50 m, even when the target vehicle maneuvers rapidly.
Starting Page	72
Ending Page	77
File Size	1800488
Page Count	6
File Format	PDF
ISBN	9781424435036
ISSN	19310587
DOI	10.1109/IVS.2009.5164255
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	Stereo vision Error correction Target tracking Roads Distortion measurement Image sampling Cameras Calibration Multilayer perceptrons Robustness
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Stereo Motion from Feature Matching and Tracking

Error analysis of calibration parameters estimation for binocular stereo vision system

Image-based visual tracking for moving targets with active stereo vision robot

The calibration of a binocular intersection VMD measurement system based on OpenCV

An image correction-based approach to camera calibration

Robot feedback control based on stereo vision: towards calibration-free hand-eye coordination

Proposal of calibration error-tolerant 3D measurement method using stereo vision for robot vision

A New Method of Correspondence for Multiple Cameras Based on Texture Energy

Calibration and stereo image correction for binocular vision system with divergent optical axes arrangement

Position estimation and multiple obstacles tracking method based on stereo vision system

Similar Documents

Stereo Motion from Feature Matching and Tracking

Error analysis of calibration parameters estimation for binocular stereo vision system

Image-based visual tracking for moving targets with active stereo vision robot

The calibration of a binocular intersection VMD measurement system based on OpenCV

An image correction-based approach to camera calibration

Robot feedback control based on stereo vision: towards calibration-free hand-eye coordination

Proposal of calibration error-tolerant 3D measurement method using stereo vision for robot vision

A New Method of Correspondence for Multiple Cameras Based on Texture Energy

Calibration and stereo image correction for binocular vision system with divergent optical axes arrangement

Position estimation and multiple obstacles tracking method based on stereo vision system