Perception of Vehicle and Traffic Dynamics Using Visual-Inertial Sensors for Assistive Driving

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 工业控制网络与系统研究室

	Perception of Vehicle and Traffic Dynamics Using Visual-Inertial Sensors for Assistive Driving
	He, Hongsheng 2; Tan JD(谈金东)1 ; Zhang YL(张吟龙)3,4,5 ; Liang W(梁炜)4,5
	2018
会议日期	December 12-15, 2018
会议地点	Kuala Lumpur, Malaysia
页码	538-543
英文摘要	This paper presents an approach to analyze vehicle and traffic dynamics by fusing a monocular camera and inertial sensors. As opposed to traditional visual-inertial odometry for ground vehicles, the proposed method can estimate both the dynamics of the vehicle and the dynamics of the surrounding environment of the vehicle. The visual features associated with the surrounding environment are determined by the nonholonomic constraint and inertial measurements of the vehicle, and the visual features associated with moving vehicles are segmented by a part-based vehicle detection model. The dynamics of the vehicle and the scene are computed from respective visual features. The proposed method is robust to high-dynamic environment such as the scenario of many moving vehicles during rush hours in downtown areas. In addition, the proposed method is capable of estimating the number of surrounding vehicles as well as the ratios of vehicle regions to the whole image area. Experiments were performed on a challenging dataset that was collected in downtown areas and interstate highways during rush hours. The experimental results showed that the proposed method can robustly and accurately analyze the dynamics of vehicles and surrounding environments.
产权排序	1
会议录	Proceedings of the 2018 IEEE International Conference on Robotics and Biomimetics
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-0376-1
WOS记录号	WOS:000468772200085
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/24657]
专题	沈阳自动化研究所_工业控制网络与系统研究室
通讯作者	Tan JD(谈金东); Liang W(梁炜)
作者单位	1.Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN 37996, United States 2.Department of Electrical Engineering and Computer Science, Wichita State University, Wichita, KS 67260, United States 3.University of Chinese Academy of Sciences, Beijing 100049, China 4.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 5.Key Laboratory of Networked Control Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	He, Hongsheng,Tan JD,Zhang YL,et al. Perception of Vehicle and Traffic Dynamics Using Visual-Inertial Sensors for Assistive Driving[C]. 见:. Kuala Lumpur, Malaysia. December 12-15, 2018.