Abstract
One of the great challenges for the release of automated vehicles is the verification and evaluation of their cognitive skills. Therefore, Vehicle-in-the-loop testing provides an adequate tool, combining real test drives with simulations. In this paper we present our innovative Vehicle-in-the-loop framework: First, a marker-based head tracking is presented, which is able to track the driver’s head in presence of vehicle’s movement and illumination influences. Second, we present our realization based on the Open-Source framework ROS with an exemplary coupling to the professional simulation tool CarMaker. Finally, we evaluate our approach in different driving scenarios.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Winner, H., Hakuli, S., Wolf, G.: Handbuch Fahrerassistenzsysteme. Springer, Heidelberg (2009)
Bock, T., Maurer, M., Färber, G.: Validation of the vehicle in the loop (vil); a milestone for the simulation of driver assistance systems. In: Proceedings of the 2007 IEEE Intelligent Vehicles Symposium, pp. 612–617 (2007)
Milgram, P., Takemura, H., Utsumi, A., Kishino, F.: Augmented reality: A class of displays on the reality-virtuality continuum. In: Proceedings of the SPIE Conference on Telemanipulator and Telepresence Technologies, Boston, Massachusetts, USA. Proceedings of SPIE, vol. 2351, pp. 282–292 (1995)
Blissing, B., Bruzelius, F., Ölvander, J.: Augmented and mixed reality as a tool for evaluation of vehicle active safety systems. In: Proceedings of the International Conference Road Safety and Simulation (2013)
Karl, I., Berg, G., Rüger, F., Färber, B.: Driving behavior and simulator sickness while driving the vehicle in the loop: Validation of longitudinal driving behavior. IEEE Intelligent Transportation Systems Magazine 5, 42–57 (2013)
Fisher, D.L.: Handbook of driving simulation for engineering, medicine, and psychology. CRC Press, Boca Raton (2011)
Foxlin, E.: Head-tracking relative to a moving vehicle or simulator platform using differential inertial sensors. In: Proceedings of Helmet and Head-Mounted Displays V. SPIE Proceedings, vol. 4201. SPIE (2000)
Roberts, D., Menozzi, A., Cook, J., Sherrill, T., Snarski, S., et al.: Testing and evaluation of a wearable augmented reality system for natural outdoor environments. In: SPIE Defense, Security, and Sensing. SPIE Proceedings, vol. 8735. SPIE (2013)
Atac, R., Foxlin, E., Marasco, P.L., Havig, P.R.: Scorpion hybrid optical-based inertial tracker (hobit). In: Head- and Helmet-Mounted Displays XVIII: Design and Applications. SPIE Proceedings, vol. 8735. SPIE (2013)
Regenbrecht, H., Baratoff, G., Wilke, W.: Augmented reality projects in the automotive and aerospace industries. IEEE Computer Graphics and Applications 25, 48–56 (2005)
Berg, G., Milhoff, T., Färber, B.: Vehicle in the loop – eine erweiterte realität mittels video see-through visualisierung. In: VDI-Tagung Der Fahrer im 21, ch. 7. Jahrhundert, Braunschweig, Deutschland (2013)
Moussa, G., Radwan, E., Hussain, K.: Augmented reality vehicle system: Left-turn maneuver study. Transportation Research Part C: Emerging Technologies 21, 1–16 (2012)
Siltanen, S.: Theory and applications of marker-based augmented reality. VTT Science, vol. 3 (2012)
Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T.B., Leibs, J., Wheeler, R., Ng, A.Y.: Ros: an open-source robot operating system. In: ICRA Workshop on Open Source Software (2009)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Zofka, M.R., Kohlhaas, R., Bär, T., Schwab, S., Schamm, T., Zöllner, J.M. (2014). Robust, Marker-Based Head Tracking for Testing Cognitive Vehicles in the Loop. In: Bebis, G., et al. Advances in Visual Computing. ISVC 2014. Lecture Notes in Computer Science, vol 8887. Springer, Cham. https://doi.org/10.1007/978-3-319-14249-4_72
Download citation
DOI: https://doi.org/10.1007/978-3-319-14249-4_72
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-14248-7
Online ISBN: 978-3-319-14249-4
eBook Packages: Computer ScienceComputer Science (R0)