NDLI: Monocular model-based 3D vehicle tracking for autonomous vehicles in unstructured environment

Content Provider	IEEE Xplore Digital Library
Author	Manz, M. Luettel, T. von Hundelshausen, F. Wuensche, H.-J.
Copyright Year	2011
Description	Author affiliation: Autonomous Systems Technology, (TAS), University of the Bundeswehr Munich, 85577 Neubiberg, Germany (Manz, M.; Luettel, T.; von Hundelshausen, F.; Wuensche, H.-J.)
Abstract	In this paper we describe a novel approach to model-based monocular vehicle tracking out of a moving vehicle using active vision. The designed algorithm can cope with cluttered color images, complex lighting conditions as well as partial occlusion of the leading vehicle and is able to detect and track a vehicle even within unstructured offroad environments. Thanks to the used 3D model which describes the characteristic vehicle geometry and appearance in terms of vertexes, edges and colored surfaces, no special visual markers are required. The knowledge of vehicle's geometry and appearance gained from the model are used within a particle filter to estimate the 6DoF position relative to the ego vehicle, thereby fusing edge as well as color information. We successfully use the proposed algorithm for pure vision based autonomous offroad convoy driving.
Starting Page	2465
Ending Page	2471
File Size	391549
Page Count	7
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979581
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Three dimensional displays Image edge detection Solid modeling Cameras Radar tracking Atmospheric measurements
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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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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