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Coding the payload data and sending the codeword as an overhead of the packet is a very common way to protect data in communication networks. The protection level of the coding technique is chosen depending on the importance of the transmitted data. While high priority, safety critical applications do not tolerate any single bit error in data packets, lower priority services can handle few bit errors...
This paper proposes a new concept of elderly driver assistance systems, which performs the assistance by the cooperative driving between two vehicles, and describes some experiments with elderly drivers. The assistance consists of one vehicle driven by an elderly driver called a guest vehicle and the other driven by a assisting driver called a host vehicle, and the host vehicle assists or escorts...
Within the last years, research in the field of cognitive vehicles has evolved to an important activity especially for car manufactures in the premium segment. Motivated by the robustness and flexibility of inter-human communication, highly integrated contextual awareness is being seen as a key component to provide an intuitive human-machine interface to the wide range of functions the driver is being...
This paper describes the car park navigation system that provides WYSIWYAS navigation using M-CublTS, investigation of how to realize the system, construction of an experimental system, and on-line experiments. Positioning in this system is performed by detection of M-CublTS elements painted in car parks using an on-board camera. In addition, this system provides the WYSIWYAS, that is, intuitive navigation...
Contemporary automotive, navigation and infotainment requirements have evolved the traditional dashboard into a complex device that can often distract the driver. Head-Up Displays (HUDs) have recently attracted the attention in the field of automotive research, promoting the reduction of driver's reaction time and to improve spatial awareness. The aptitude of the proposed HUD interface lies within...
State estimation methods allow the vehicle position and velocity to be reconstructed by combining information from sensors and vehicle model. From a security point of view, position and velocity have to be known with a high level of confidence in order, for example, to avoid vehicle collision. In this paper, a confidence interval observer is developed to enclose positioning variables with some confidence...
This paper explores the possibility to use a single low-resolution FIR camera for detection of pedestrians in the near zone in front of a vehicle. A low resolution sensor reduces the cost of the system, as well as the amount of data that needs to be processed in each frame. We present a system that makes use of hot-spots and image positions of a near constant bearing to detect potential pedestrians...
This article presents a validator stage for a pedestrian detection system based on the use of probabilistic models for the infrared domain. Four different models are employed in order to recognize the pose of the pedestrians; open, almost open, almost closed and fully closed legs are detected. In an attempt to overcome the drawbacks of template-matching in far infrared images, two different approaches...
Reliable obstacles detection under adverse weather conditions, especially foggy conditions, is a challenging task because the contrast is drastically reduced. Consequently, the classical approaches relying on pattern recognition techniques or points of interest matching are not so efficient anymore. In this paper, a novel approach is proposed which is able to simultaneously restore the contrast of...
This paper introduces signal processing algorithms of single-sensor-multi-target-tracking, sensor data fusion, and multi-sensor-multi-target-tracking developed for designing a novel lateral collision warning function. In order to improve the perception of road vehicles, an experimental vehicle has been equipped with arrays of three short range radar sensors on both sides. With the aid of such sensor...
This paper describes the tracking stage of a road sign identification system with the use of a Kalman filter estimator. Although traditionally traffic sign recognition systems work in a single-frame way, tracking using inter-frame information is crucial in order to reduce false alarms. In applications that involve maintenance systems, the purpose of tracking is to give a single stroke of each road...
This paper presents an original approach of road segmentation supervised by stereovision. It deals with free space estimation by stereovision and road detection by color segmentation. The v-disparity algorithm is extended to provide a reliable and precise road profile on all types of roads. The free space is estimated by classifying the pixels of the disparity map. This classification is performed...
In this work, we present a micro-avionics system structured around the controller area network (CAN) bus data backbone. The system is designed to be cross-compatible across our experimental mini-helicopters and ground vehicles, and it is tailored to allow autonomous navigation and control for a variety of different research test cases. The expandable architecture deploys a hybrid selection of COTS...
Detailed digital maps are of benefit for navigation systems and also for future driver assistant and safety applications. The generation of detailed digital maps is an expensive and time-consuming process as there is much manual rework. In this work, algorithms for the automatic detection of traffic infrastructure objects are proposed. The accurate positions of lane markings, sidewalks, reflection...
Occupants inside the vehicle can be deadly injured by the deployment of airbag at the time of crash. New collision safety technology requires classifying the occupant and tracking their position in real-time in order to adaptively deploy the air bag. This paper presents a fast 3D model fitting algorithm based on grayscale correlation of stereo disparity data, to detect and track occupant head position...
Autonomous robot vehicles that operate in off-road terrain should avoid obstacle hazards. In this paper we present a stereo vision based method that is able to cluster reconstructed terrain points into obstacles by evaluating their relative angles and distances. In our approach, constraints are enforced on these geometric properties by a set of pixel threshold values. Because these values are all...
This paper presents a system for road sign detection based on edge orientation histograms. Edge orientation histograms are reliable, scale and contrast invariant features that can be extracted efficiently using integral images. A learning method is introduced that selects features based on the implicit transmission function of the designer's template to the object's appearance in the image. The system...
Research in adaptative cruise control (ACC) is currently one of the most important topics in the field of intelligent transportation systems. The main challenge is to perceive the environment, especially at low speed. In this paper, we present a novel approach to track the 3D trajectory and speed of the obstacles and the surrounding vehicles through a stereo-vision system. This tracking method extends...
Various driver-assistance systems are currently being developed that make use of on-vehicle cameras. However, the imaging conditions and the methods used to detect objects are different for each system. Therefore, a special camera is often needed in order to satisfy the requirements of each system. A camera that can be shared by multiple systems will become essential when more systems are put to practical...
We propose a method for accurate vehicle localization. The proposed method detects a vehicle's location and traveling lane by matching between a pre-constructed range data map and laser scanner data sequences measured while the vehicle runs. The range data map consists of an absolute position on the road and range data at the position. We use dynamic time warping (DTW) to align multiple range data...
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