49 research outputs found
A computationally efficient stereo vision algorithm for adaptive cruise control
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1997.Includes bibliographical references (p. 55-56).by Jason Robert Bergendahl.M.S
Sensor fusion in driving assistance systems
Mención Internacional en el título de doctorLa vida diaria en los países desarrollados y en vías de desarrollo depende en
gran medida del transporte urbano y en carretera. Esta actividad supone un
coste importante para sus usuarios activos y pasivos en términos de polución
y accidentes, muy habitualmente debidos al factor humano. Los nuevos desarrollos
en seguridad y asistencia a la conducción, llamados Advanced Driving
Assistance Systems (ADAS), buscan mejorar la seguridad en el transporte, y
a medio plazo, llegar a la conducción autónoma.
Los ADAS, al igual que la conducción humana, están basados en sensores
que proporcionan información acerca del entorno, y la fiabilidad de los sensores
es crucial para las aplicaciones ADAS al igual que las capacidades
sensoriales lo son para la conducción humana. Una de las formas de aumentar
la fiabilidad de los sensores es el uso de la Fusión Sensorial, desarrollando
nuevas estrategias para el modelado del entorno de conducción gracias al uso
de diversos sensores, y obteniendo una información mejorada a partid de los
datos disponibles.
La presente tesis pretende ofrecer una solución novedosa para la detección
y clasificación de obstáculos en aplicaciones de automoción, usando fusión
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sensorial con dos sensores ampliamente disponibles en el mercado: la cámara
de espectro visible y el escáner láser. Cámaras y láseres son sensores
comúnmente usados en la literatura científica, cada vez más accesibles y listos
para ser empleados en aplicaciones reales. La solución propuesta permite la
detección y clasificación de algunos de los obstáculos comúnmente presentes
en la vía, como son ciclistas y peatones.
En esta tesis se han explorado novedosos enfoques para la detección y clasificación,
desde la clasificación empleando clusters de nubes de puntos obtenidas
desde el escáner láser, hasta las técnicas de domain adaptation para la creación
de bases de datos de imágenes sintéticas, pasando por la extracción inteligente
de clusters y la detección y eliminación del suelo en nubes de puntos.Life in developed and developing countries is highly dependent on road and
urban motor transport. This activity involves a high cost for its active and passive
users in terms of pollution and accidents, which are largely attributable to
the human factor. New developments in safety and driving assistance, called
Advanced Driving Assistance Systems (ADAS), are intended to improve
security in transportation, and, in the mid-term, lead to autonomous driving.
ADAS, like the human driving, are based on sensors, which provide information
about the environment, and sensors’ reliability is crucial for ADAS
applications in the same way the sensing abilities are crucial for human driving.
One of the ways to improve reliability for sensors is the use of Sensor
Fusion, developing novel strategies for environment modeling with the help of
several sensors and obtaining an enhanced information from the combination
of the available data.
The present thesis is intended to offer a novel solution for obstacle detection
and classification in automotive applications using sensor fusion with two
highly available sensors in the market: visible spectrum camera and laser
scanner. Cameras and lasers are commonly used sensors in the scientific
literature, increasingly affordable and ready to be deployed in real world
applications. The solution proposed provides obstacle detection and classification
for some obstacles commonly present in the road, such as pedestrians and bicycles.
Novel approaches for detection and classification have been explored in this
thesis, from point cloud clustering classification for laser scanner, to domain
adaptation techniques for synthetic dataset creation, and including intelligent
clustering extraction and ground detection and removal from point clouds.Programa Oficial de Doctorado en Ingeniería Eléctrica, Electrónica y AutomáticaPresidente: Cristina Olaverri Monreal.- Secretario: Arturo de la Escalera Hueso.- Vocal: José Eugenio Naranjo Hernánde
Fusion-layer-based machine vision for intelligent transportation systems/
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010.Cataloged from PDF version of thesis.Includes bibliographical references (p. 307-317).Environment understanding technology is very vital for intelligent vehicles that are expected to automatically respond to fast changing environment and dangerous situations. To obtain perception abilities, we should automatically detect static and dynamic obstacles, and obtain their related information, such as, locations, speed, collision/occlusion possibility, and other dynamic current/historic information. Conventional methods independently detect individual information, which is normally noisy and not very reliable. Instead we propose fusion-based and layered-based information-retrieval methodology to systematically detect obstacles and obtain their location/timing information for visible and infrared sequences. The proposed obstacle detection methodologies take advantage of connection between different information and increase the computational accuracy of obstacle information estimation, thus improving environment understanding abilities, and driving safety.by Yajun Fang.Ph.D
Desenvolvimento de um sistema de visão estéreo com grande linha de base para a identifica cão de peões e outros alvos em estrada
Mestrado em Engenharia MecânicaOs veículos autónomos são uma tendência cada vez mais crescente nos dias
de hoje com os grandes fabricantes da área automóvel, e não só, concentrados
em desenvolver carros autónomos. As duas maiores vantagens que se
destacam para os carros autónomos são maior conforto para o condutor e
maior segurança, onde este trabalho se foca. São incontáveis as vezes que
um condutor, por distração ou por outra razão, não vê um objeto na estrada
e colide ou um peão na estrada que e atropelado. Esta e uma das questões
que um sistema de apoio a condução (ADAS) ou um carro autónomo tenta
solucionar e por ser uma questão tão relevante há cada vez mais investigação
nesta área. Um dos sistemas mais usados para este tipo de aplicação são
câmaras digitais, que fornecem informação muito completa sobre o meio circundante,
para além de sistemas como sensores LIDAR, entre outros. Uma
tendência que deriva desta e o uso de sistemas stereo, sistemas com duas
câmaras, e neste contexto coloca-se uma pergunta a qual este trabalho tenta
respoder: "qual e a distância ideal entre as câmaras num sistema stereo para
deteção de objetos ou peões?". Esta tese apresenta todo o desenvolvimento
de um sistema de visão stereo: desde o desenvolvimento de todo o software
necessário para calcular a que distância estão peões e objetos usando duas
câmaras até ao desenvolvimento de um sistema de xação das câmaras que
permita o estudo da qualidade da deteção de peões para várias baselines.
Foram realizadas experiências para estudar a influênci da baseline e da
distância focal da lente que consistriam em gravar imagens com um peão
em deslocamento a distâncias pré defenidas e marcadas no chão assim como
um objeto xo, tudo em cenário exterior. A análise dos resultados foi feita
comparando o valor calculado automáticamente pela aplicação com o valor
medido. Conclui-se que com este sistema e com esta aplicação e possível
detetar peões com exatidão razoável. No entanto, os melhores resultados
foram obtidos para a baseline de 0.3m e para uma lente de 8mm.Nowadays, autonomous vehicles are an increasing trend as the major players
of this sector, and not only, are focused in developing autonomous cars.
The two main advantages of autonomous cars are the higher convenience
for the passengers and more safety for the passengers and for the people
around, which is what this thesis focus on. Sometimes, due to distraction
or another reasons, the driver does not see an object on the road and crash
or a pedestrian in the cross walk and the person is run over. This is one
of the questions that an ADAS or an autonomous car tries to solve and
due to the huge relevance of this more research have been done in this
area. One of the most applied systems for ADAS are digital cameras, that
provide complex information about the surrounding environment, in addition
to LIDAR sensor and others. Following this trend, the use of stereo vision
systems is increasing - systems with two cameras, and in this context a
question comes up: "what is the ideal distance between the cameras in a
stereo system for object and pedestrian detection?". This thesis shows all
the development of a stereo vision system: from the development of the
necessary software for calculating the objects and pedestrians distance form
the setup using two cameras, to the design of a xing system for the cameras
that allows the study of stereo for di erent baselines. In order to study
the in
uence of the baseline and the focal distance a pedestrian, walking
through previously marked positions, and a xed object, were recorded, in an
exterior scenario. The results were analyzed by comparing the automatically
calculated distance, using the application, with the real value measured. It
was concluded, in the end, that the distance of pedestrians and objects
can be calculated, with minimal error, using the software developed and the
xing support system. However, the best results were achieved for the 0.3m
baseline and for the 8mm lens