NDLI: Real-time dynamic environment perception in driving scenarios using difference fronts

Content Provider	IEEE Xplore Digital Library
Author	Vatavu, A. Danescu, R. Nedevschi, S.
Copyright Year	2012
Description	Author affiliation: Technical University of Cluj-Napoca, Computer Science Department, Str. Memorandumului nr. 28, Cluj-Napoca, Romania (Vatavu, A.; Danescu, R.; Nedevschi, S.)
Abstract	The environment representation is one of the main challenges of autonomous navigation. In the case of complex driving environments such as crowded city traffic scenarios, achieving satisfactory results becomes even more difficult. In this paper we propose a real-time solution for two main issues of advanced driver assistance systems: unstructured environment representation and extraction of dynamic properties of traffic participants. For the real-time environment representation we propose a solution to extract object delimiters from the traffic scenes and represent them as polygonal models. In order to track dynamic entities, an intermediate evidence map named “Stereo Temporal Difference Map” is proposed. This difference map is computed by comparing the occupancy of a cell between two consecutive frames. Based on the Stereo Temporal Difference Map information, difference fronts are extracted and are subjected to a particle based filtering mechanism. Finally, the provided dynamic features are associated to the extracted polygonal models. The result is a more compact representation of the dynamic environment.
Starting Page	717
Ending Page	722
File Size	2126820
Page Count	6
File Format	PDF
ISBN	9781467321198
ISSN	19310587
e-ISBN	9781467321181
DOI	10.1109/IVS.2012.6232270
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-03
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicle dynamics Feature extraction Computer architecture Vehicles Atmospheric measurements Particle measurements Image color analysis
Content Type	Text
Resource Type	Article

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