Robust Road Modeling based on a Hierarchical Bipartite Graph

Nieto Doncel, Marcos; Salgado Álvarez de Sotomayor, Luis y Jaureguizar Núñez, Fernando (2008). Robust Road Modeling based on a Hierarchical Bipartite Graph. En: "IEEE Intelligent Vehicles Symposium 2008", 04/06/2008-06/06/2008, Eindhoven, Países Bajos. ISBN 978-1-4244-2568-6.

Descripción

Título: Robust Road Modeling based on a Hierarchical Bipartite Graph
Autor/es:
  • Nieto Doncel, Marcos
  • Salgado Álvarez de Sotomayor, Luis
  • Jaureguizar Núñez, Fernando
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: IEEE Intelligent Vehicles Symposium 2008
Fechas del Evento: 04/06/2008-06/06/2008
Lugar del Evento: Eindhoven, Países Bajos
Título del Libro: Proceedings of IEEE Intelligent Vehicles Symposium 2008
Fecha: 2008
ISBN: 978-1-4244-2568-6
Materias:
Escuela: E.T.S.I. Telecomunicación (UPM)
Departamento: Señales, Sistemas y Radiocomunicaciones
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

Driver assistance systems based on video processing deliver a number of warnings to the driver, such as lane departure, lane invasion by other vehicles, collision prediction, etc. This have been a field of intense research for many years, providing solutions based on road models where vehicles are afterwards detected and tracked. Robustness is essential in this field of road safety where outliers represent one of the major problems for road modeling. The motivation of this work is to provide a robust and, at the same time, flexible road model which identifies a variable number of lanes, their widths, the curvature of the road and the position of the vehicle in its lane. The major advantage of this model is that the system gives confidence measures for each lane, determining which lanes are actually present and which not. The model is structured as a hierarchical bipartite graph which simplifies information management, reduces sub-module dependencies and classifies elements of the road in different levels. At each level different strategies are applied, following four overall steps: measurement, estimation, evaluation and extrapolation, which lead to enhanced road model accuracy, reliability and flexibility. Several experimental results are provided, showing the robustness of the system, its stability and accurate results for large test paths.

Más información

ID de Registro: 3801
Identificador DC: http://oa.upm.es/3801/
Identificador OAI: oai:oa.upm.es:3801
URL Oficial: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=04621241
Depositado por: Memoria Investigacion
Depositado el: 29 Jul 2010 11:23
Ultima Modificación: 20 Abr 2016 13:16
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