NDLI: Tightly-coupled LIDAR and computer vision integration for vehicle detection

Content Provider	IEEE Xplore Digital Library
Author	Lili Huang Barth, M.
Copyright Year	2009
Description	Author affiliation: Department of Electrical Engineering, and also with the Center for Environmental Research and Technology, University of California Riverside, 92521, U.S.A. (Lili Huang; Barth, M.)
Abstract	In many driver assistance systems and autonomous driving applications, both LIDAR and computer vision (CV) sensors are often used to detect vehicles. LIDAR provides excellent range information to different objects. However, it is difficult to recognize these objects as vehicles from range information alone. On the other hand, computer vision imagery allows for better recognition, but does not provide high-resolution range information. In this paper, a tightly-coupled LIDAR/CV integrated system is proposed for vehicle detection. This sensing system is mounted on the front of a test vehicle, facing forward. The LIDAR sensor estimates possible vehicle positions. This information is then transformed into the image coordinates. Different Regions of Interest (ROIs) in the imagery are defined based on the LIDAR object hypotheses. An Adaboost object classifier is then utilized to detect the vehicle in ROIs. A classifier error correction approach is used to choose an optimal position of the detected vehicle. Finally, the vehicle's position and dimensions are derived from both the LIDAR and image data. The main contribution of this paper is that the complementary advantages of two sensors are utilized. The LIDAR scanning data are applied for classifier correction. And the output of the Adaboost classifier is used to provide distance and dimension information. Experimental results are presented to illustrate that this LIDAR/CV system is reliable. It can be used in applications such as traffic surveillance and roadway navigation tasks.
Starting Page	604
Ending Page	609
File Size	1459146
Page Count	6
File Format	PDF
ISBN	9781424435036
ISSN	19310587
DOI	10.1109/IVS.2009.5164346
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	Laser radar Computer vision Vehicle detection Remotely operated vehicles Application software Sensor systems and applications Vehicle driving Mobile robots Image recognition System testing
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

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