An evaluation framework for stereo-based driver assistance

This is the post-print version of the Article - Copyright @ 2012 Springer VerlagThe accuracy of stereo algorithms or optical flow methods is commonly assessed by comparing the results against the Middlebury database. However, equivalent data for automotive or robotics applications rarely exist as they are difficult to obtain. As our main contribution, we introduce an evaluation framework tailored for stereo-based driver assistance able to deliver excellent performance measures while circumventing manual label effort. Within this framework one can combine several ways of ground-truthing, different comparison metrics, and use large image databases. Using our framework we show examples on several types of ground truthing techniques: implicit ground truthing (e.g. sequence recorded without a crash occurred), robotic vehicles with high precision sensors, and to a small extent, manual labeling. To show the effectiveness of our evaluation framework we compare three different stereo algorithms on pixel and object level. In more detail we evaluate an intermediate representation called the Stixel World. Besides evaluating the accuracy of the Stixels, we investigate the completeness (equivalent to the detection rate) of the StixelWorld vs. the number of phantom Stixels. Among many findings, using this framework enables us to reduce the number of phantom Stixels by a factor of three compared to the base parametrization. This base parametrization has already been optimized by test driving vehicles for distances exceeding 10000 km

Advanced Driver Assistance Systems

Tato bakalářská práce popisuje funkce pokročilých asistenčních systémů řidiče. Tyto systémy slouží ke zvýšení bezpečnosti všech účastníků silničního provozu. Práce se věnuje rozdělení asistenčních systémů, popisu snímačů, které tyto systémy využívají, ale hlavní část práce se zabývá popisem jednotlivých asistenčních systémů. V závěru této práce je také zahrnutí asistenčních systémů v legislativě a krátký pohled do budoucnosti těchto technologií.This Bachelor´s thesis describes functions of advanced driver assistance systems. These systems are used to increase safety of road users. The thesis deals with distribution of assistance systems, description of sensors that are used by these systems, but the main part describes the assistance systems itself. In the conclusion part of this thesis is the inclusion of driver assistance systems in the legislation and a brief look into the future of these technologies.

Integration of driver support functions: the driver's point of view

Integration of driver support functions is a key issue in the development of in-vehicle systems that assist the driver with the driving task. This paper discusses a user needs survey that provides more insight into this issue from the perspective of the driver. Car drivers are asked to indicate their needs for driver assistance during certain driving tasks (e.g. congestion driving) and circumstances (e.g. reduced visibility). From this, consequences for the integration of functions can be deduced with respect to technology, HMI and functional operation. Preliminary results of a pilot test of the user needs survey are highlighted in this paper. These results indicate starting points for integrated driver assistance, such as the adaptability of systems based on personal needs for support, and the functional integration of driver support functions, for instance with respect to inter-vehicle communication

Video-based Driver Assistance Systems

Video-based Driver Assitance Systems (ADAS) are a promising and chellenging field of work within the Intelligent Transportation System framework. Thwe Grupo Tratamiento de Imágenes is a research group that has an structured view of vision-vased applications, including video-based ADAS. The most important project in which the group is envolved regarding ADAS is the I-Way project. Recently, a first release of a complete ADAS solution of the project has been finished. Its architecture and more importan sub-modules are described in this document, as well as its performance under real solutions. The evolution of the system is being currently carried on as a research line to introduce advanced processing alternatives, such as the networks of Smart Cameras (SC) into the ADAS systems

Introducing Advanced Driver Assistance Systems

The introduction of Advanced Driver Assistance Systems (ADAS) in road traffic induces many complex questions. One of them is whether or not present legislation frameworks are able to accommodate a smooth development and market implementation of ADAS. This is strongly related to the aspect of traffic safety. The various aspects related to this issue are categorised based on an exploration of the functionality and possible failure of ADAS. Next, some problem categories are more in-depth elaborated. In particular attention is paid to the need for establishing safety requirements to the design and marketing of ADAS as well as the issue of liability regulation. It is concluded that decision making on safety requirements mainly takes place at an international level. However, so far hardly any requirements regarding ADAS have been laid down in compulsory rules yet. It is further concluded that current legal frameworks in both the fields of vehicle safety standards and liability provide for (some) flexibility towards technical developments regarding ADAS, i.e. these frameworks do not contain many ‘hard rules’ obstructing the introduction of ADAS. Concerning the safety regulation of ADAS it is argued that the speed of technological developments and the innovative and specific nature of ADAS technology generate various tensions. These tensions should have consequences for the weight that is put on public and private intervention mechanisms and the relation between preventive safety standards and reactive regimes such as product liability and post-market controls

Editorial Advanced Driver Assistance Systems

The application of Intelligent Transportation Systems (ITS), in particular Advanced Driver Assistance Systems (ADAS), is expected to improve the performance of road transportation significantly. Public policy makers, among others, are therefore increasingly interested in the implementation of these systems. Available knowledge on various implementation issues is growing, but still limited. This is due to the complex interactions between technological re- quirements, market introduction, impacts on driver behaviour and traffic performance and policy priorities. This article provides a framework for ADAS implementation, reviews recent developments in this field and introduces the contributions to this special issue

Stereo Matching in the Presence of Sub-Pixel Calibration Errors

Stereo matching commonly requires rectified images that are computed from calibrated cameras. Since all under-lying parametric camera models are only approximations, calibration and rectification will never be perfect. Additionally, it is very hard to keep the calibration perfectly stable in application scenarios with large temperature changes and vibrations. We show that even small calibration errors of a quarter of a pixel are severely amplified on certain structures. We discuss a robotics and a driver assistance example where sub-pixel calibration errors cause severe problems. We propose a filter solution based on signal theory that removes critical structures and makes stereo algorithms less sensitive to calibration errors. Our approach does not aim to correct decalibration, but rather to avoid amplifications and mismatches. Experiments on ten stereo pairs with ground truth and simulated decalibrations as well as images from robotics and driver assistance scenarios demonstrate the success and limitations of our solution that can be combined with any stereo method

Simulation and Post-Processing for Advanced Driver Assistance System (ADAS)

Considering the continuous development in the automotive sector and autonomous driving technology, it is necessary to conduct continuous research to identify the main points that can allow continuous improvement of system autonomy. In addition to designing new components, an important aspect is characterizing the test procedures uniformly. The present work is related to analyzing the testing phases of a vehicle concerning the post-processing of the tests, using suitable software and routines, and creating an overall summary report that includes information on the type of instrumentation and type of test and post-processing results. The paper proposes the generation of an innovative tool designed to improve the generation capacity of test maneuvers for Advanced Driver Assistance Systems (ADASs) and to automate the collection and analysis phase of data relating to tests for a Lane System's Support System (LSS), Autonomous Emergency Braking (AEB), and Car to Pedestrian Nearside Child (CPNC) comply with Euro NCAP LSS 3.0.2, Euro NCAP AEB C2C 3.0.2 and UNECE R-152. The goal was achieved with the collaboration of the company Nardo Technical Center S.r.l. The entire post-processing routine was developed from data relating to experimental tests carried out in the company