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Perception of Vehicle and Traffic Dynamics Using Visual-Inertial Sensors for Assistive Driving
Zhang YL(张吟龙)1,2,3; Liang W(梁炜)1,2; He, Hongsheng4; Tan JD(谈金东)5
Department工业控制网络与系统研究室
Conference Name2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Conference DateDecember 12-15, 2018
Conference PlaceKuala Lumpur, Malaysia
Source PublicationProceedings of the 2018 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlaceNew York
2018
Pages538-543
Indexed ByEI ; CPCI(ISTP)
EI Accession number20191506772460
WOS IDWOS:000468772200085
Contribution Rank1
ISBN978-1-7281-0376-1
AbstractThis 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.
Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/24657
Collection工业控制网络与系统研究室
Corresponding AuthorLiang W(梁炜); Tan JD(谈金东)
Affiliation1.Key Laboratory of Networked Control Systems, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.Department of Electrical Engineering and Computer Science, Wichita State University, Wichita, KS 67260, United States
5.Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, TN 37996, United States
Recommended Citation
GB/T 7714
Zhang YL,Liang W,He, Hongsheng,et al. Perception of Vehicle and Traffic Dynamics Using Visual-Inertial Sensors for Assistive Driving[C]. New York:IEEE,2018:538-543.
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