Abstract
This paper presents innovations for detection of obstacles and road using a Multilayer Laserscanner. The classification of pedestrians and other road users require robust object tracking algorithms. Their reliability strongly depends on a precise ego-motion compensation. A new method of ego-motion estimation based on relative velocities of tracked objects will be introduced. This method operates especially under undefined driving conditions, such as skidding of the ego vehicle, where algorithms based on the vehicle’s INS data fail.
High performance object tracking and classification algorithms for real-time data processing will be introduced. Especially the results of a new pedestrian recognition technique will be presented. Methods for road detection and road type classification based on Laserscanner data will be explained in a separated chapter. The fusion of road detection and object recognition will enable a better interpretation of driving situations.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Promoting road safety in the EU-COM (97) 131 fin.
Toward fair and efficient pricing in Transport-COM (95) 691 fin.
Statistica degli incidenti stradali — 1997 Italy ACI ISTAT.
Statistisches Bundesamt — 1996 Germany.
Lages, Ulrich: Laserscanner for Obstacle Detection. Yearbook of AMAA 2002, Advanced Microsystems for Automotive Applications, AMAA 2002, Berlin, 2002.
Weisser, H.; Schulenberg, P.; Bergholz, R.; Lages, U. (1998) Autonomous Driving on Vehicle Test Tracks: Overview, Motivation and Concept. IEEE International Conference on Intelligent Vehicles, Stuttgart, 1998.
Willhoeft, V.; Ewald, A. (2000) Laserscanners for Obstacle Detection in Automotive Applications. Proceedings of IV 2001, IEEE Intelligent Vehicles Symposium 2000, IV 2000 Dearborn, Paper IVS-008.
Streller, Daniel; Fuerstenberg, Kay Ch.; Dietmayer, Klaus C.J.: Vehicle and Object Models for Robust Tracking in Traffic Scenes using Laser Range Images. Proceedings of ITSC 2002, IEEE 5th International Conference on Intelligent Transport Systems, ITSC 2002 Singapore.
Fuerstenberg, K. Ch.; Dietmayer, K.; Eisenlauer, S.; Willhoeft, V.: Multilayer Laserscanner for robust Object Tracking and Classification in Urban Traffic Scenes. Proceedings of ITS 2002, 9th World Congress on Intelligent Transport Systems, ITS 2002 Chicago, Paper 2054.
Welch, Greg; Bishop, Gary: An Introduction to the Kalman Filter. http://www.cs.unc.edu, 2001.
Gavrila, Dariu M.; Giebel, Jan; Shape based Pedestrian Detection and Tracking. Proceedings of IV 2002, IEEE Intelligent Vehicles Symposium, IV 2002 Versailles.
Blackman, Samuel: Design and Analysis of Modern Tracking Systems. Artech House, London, 1999.
Willhoeft, V.; Fuerstenberg, K. Ch.; Dietmayer, K. C. J.: New Sensor for 360° Vehicle Surveillance. Proceedings of IV 2001, IEEE Intelligent Vehicles Symposium, IV 2001 Tokyo.
Fuerstenberg, K. Ch.; Willhoeft, V.: Pedestrian Recognition in urban traffic using Laserscanners. Proceedings of ITS 2001, 8th World Congress on Intelligent Transport Systems, ITS 2001 Sidney, Paper 551.
Fuerstenberg, K. Ch.; Hipp, J.; Liebram, A. (2000) A Laserscanner for detailed traffic data collection and traffic control. Proceedings of ITS 2000, 7th World Congress on Intelligent Transport Systems, ITS 2000 Turin, Paper 2335.
Fuerstenberg, K. Ch.; Dietmayer, K. C. J.; Willhoeft, V.: Pedestrian Recognition in Urban Traffic using a vehicle based Multilayer Laserscanner. Proceedings of IV 2002, IEEE Intelligent Vehicles Symposium, IV 2002 Versailles, Paper IV-80.
Dietmayer, K. C. J.; Sparbert J.; Streller, D.: Model based Object Classification and Object Tracking in Traffic scenes from Range Images. Proceedings of IV 2001! IEEE Intelligent Vehicles Symposium, IV 2001 Tokyo, Paper 2-1.
Sparbert, J.; Dietmayer, K. C. J; Streller, D.: Lane Detection and Street Type Classification using Laser range Images. Proceedings of ITSC 2001, IEEE 4th International Conference on Intelligent Transport Systems, ITSC 2001 Oakland, page 454–459.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2003 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Lages, U., Fuerstenberg, K.C., Dietmayer, K.C.J. (2003). Laserscanner Innovations for Detection of Obstacles and Road. In: Valldorf, J., Gessner, W. (eds) Advanced Microsystems for Automotive Applications 2003. VDI-Buch. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-76988-0_19
Download citation
DOI: https://doi.org/10.1007/978-3-540-76988-0_19
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-00597-1
Online ISBN: 978-3-540-76988-0
eBook Packages: Springer Book Archive