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The paper presents an obstacle avoidance algorithm to be used for autonomous ground vehicles applications. The proposed method improves some of the limitations of the recently developed null space based behavioral control. The technique divides the problem into tasks, which are associated to increasing priority. Activities with lower priority do not interfere with those having higher priority. The...
Brightness obviously affects the pixel value of an image sensor. Image identification from a traditional sensor may generate a bias and surveillant misunderstandings because of weather. The purpose of the research is to develop an intelligent image sensor with mobile communication function applied to Vehicle surveillance system. The proposed intelligent image sensor integrates an optoelectronic converting...
This paper provides a description of a new low-level feature-fusion approach for real-time object recognition utilising an arbitrary number of imaging sensors and based on a boosted cascade of simple features. The approach is demonstrated by means of a vehicle detection system. The application utilises laser scanner responses for hypotheses generation and low-level features from both colour and far...
Hybrid approaches have been applied widely in image recognition system to adapt the increasing requirement of real-time and high accuracy and there are a lot of successful hybrid image recognition algorithms. To use hybrid approaches more effectively, some basic research about it is very necessary. This paper analyzes current typical hybrid samples, then presents basic hybrid image recognition patterns...
In order to develop a robust man-machine interface based on speech for cars, the speaker variability and the acoustic environment effects have to be compensated. In this work, an on-line feature and acoustic model compensation (MATE-MEMLIN) is proposed to compensate the speaker variability and the acoustic car environment. MATE-MEMLIN consists on the combination of the techniques augMented stAte space...
In many intelligent vehicles applications tracking plays an important role. This paper considers tracking of a vehicle under delayed and noisy measurements. For this purpose we design an H∞ optimal filter for linear systems with time delays in the state and output variables. By using the duality between filtering and control, the problem at hand is transformed to a robust controller design for systems...
This paper presents a road signs detection and classification system based on a three-step algorithm composed of color segmentation, shape recognition, and a neural network. The final goal of this algorithm is to detect and classify almost all road signs present along Italian roads. Color segmentation was suggested by the aim to achieve real time execution, since color-based segmentation is faster...
Driver assistance functions on marked innercity intersections require a reliable detection of intersection lanes. Due to the high complexity of intersection scenarios and the large amount of clutter that is usually encountered in urban areas, existing highway lane detectors are not applicable for this task. In order to detect the lanes on marked innercity intersections, we adopt a two step process...
Hybrid electric vehicles (HEVs) gain more and more attention, as they represent a more environmental friendly alternative to conventional vehicles. If combined with photovoltaic panels, they can lead to further reduction of emissions. The paper focuses on a solution for minimizing the fuel consumption in a series hybrid solar vehicle (HSV). After briefly introducing the model, first a global optimum...
We present a real-time monocular vehicle detection and recognition system for driver assistance based on the fusion of data from a radar and a video sensor. The radar data is used both for narrowing down the size of the search area for vehicle rears on the video image and for the distance measurement of the vehicles in front. Using the passive video sensor a radar object is verified and the width...
This paper presents a robust real time obstacle and pedestrian detection algorithm, which is capable of handling the challenges of stationary as well as moving objects, utilizing a single car mounted monochrome camera. First, the system detects obstacles above the ground plane by obtaining a "virtual stereo system" through the usage of inverse perspective mapping. A fast digital image stabilization...
A method of discriminating an approaching vehicle was devised for the purpose of constructing a visual driver assistance system at an intersection using a monocular camera. When a monocular camera is used, it is basically difficult to acquire distance information, so vehicle detection and discrimination of approaching vehicles without the use of distance information are associated issues. In this...
This work is motivated by a development of a portable and low-cost solution for road mapping in downtown area using a number of laser scanners and video cameras that are mounted on an intelligent vehicle. Sensors on the vehicle platform are considered to be removable, so that extrinsic calibrations are required after each sensors' setting up. Extrinsic calibration might always happen at or near measuremental...
This paper describes a method for estimating the vehicle global position in a network of roads by means of visual odometry. To do so, the ego-motion of the vehicle relative to the road is computed using a stereo-vision system mounted next to the rear view mirror. Feature points are matched between pairs of frames and linked into 3D trajectories. The resolution of the equations of the system at each...
The driving support system is one of most important research field in intelligent transport system (ITS). In this paper, we address an obstacle extraction method for driving support system. The stereovision system is one of most suit sensor to recognize details of environment. On the other hand, a disparity image obtained by stereovision system has quite a lot of information. Therefore an efficient...
In today's motorized society, traffic congestion and illegal parking are serious problems in cities. We must collect traffic information to solve these problems. Fixed cameras or sensors set up on roads have been used so far. However, approaches using such cameras have many disadvantages. For example, these cameras cannot be used in the event of accident, and it is difficult to collect information...
In this paper, we present a system capable of detecting and tracking on-road objects in the scene, in particular vehicles. Such a system is a useful part of a driver assistance system. This system employs two different techniques in the detection phase to increase the robustness. A large part of this paper is devoted to reducing the computational amount required of the overall algorithm by quickly...
Path planning procedures belong to the key software elements for advanced driver assistance systems including vehicle following, lane-keeping, lane-changing, or collision avoidance. One approach to realize an integrated driver assistance on the guidance level is based on an elastic band immersed in a potential field hazard map. This paper presents an extension of this elastic band path planning method,...
This paper presents a fuzzy logic controller for an isolated signalized intersection. The controller controls the traffic light timings and phase sequence to ensure smooth flow of traffic with minimal delay. Usually fuzzy traffic controllers are optimized to maximize traffic flows/minimize traffic delays under typical traffic conditions. Consequentially, these are not the optimal traffic controllers...
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