Robust Road Modeling based on a Hierarchical Bipartite Graph

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

Description

Title: Robust Road Modeling based on a Hierarchical Bipartite Graph
Author/s:
  • Nieto Doncel, Marcos
  • Salgado Álvarez de Sotomayor, Luis
  • Jaureguizar Núñez, Fernando
Item Type: Presentation at Congress or Conference (Article)
Event Title: IEEE Intelligent Vehicles Symposium 2008
Event Dates: 04/06/2008-06/06/2008
Event Location: Eindhoven, Países Bajos
Title of Book: Proceedings of IEEE Intelligent Vehicles Symposium 2008
Date: 2008
ISBN: 978-1-4244-2568-6
Subjects:
Faculty: E.T.S.I. Telecomunicación (UPM)
Department: Señales, Sistemas y Radiocomunicaciones
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

More information

Item ID: 3801
DC Identifier: http://oa.upm.es/3801/
OAI Identifier: oai:oa.upm.es:3801
Official URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=04621241
Deposited by: Memoria Investigacion
Deposited on: 29 Jul 2010 11:23
Last Modified: 20 Apr 2016 13:16
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