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End-to-end Learning for Inter-Vehicle Distance and Relative Velocity Estimation in ADAS with a Monocular Camera [article]

Zhenbo Song, Jianfeng Lu, Tong Zhang, Hongdong Li
2020 arXiv   pre-print
In this paper, we propose a monocular camera-based inter-vehicle distance and relative velocity estimation method based on end-to-end training of a deep neural network.  ...  Inter-vehicle distance and relative velocity estimations are two basic functions for any ADAS (Advanced driver-assistance systems).  ...  CONCLUSION In this paper, we have presented an end-to-end trainable deep neural network for inter-vehicle distance and relative velocity estimation in ADAS applications.  ... 
arXiv:2006.04082v2 fatcat:o5inarsmwrfznj4rsrjkkvfvyu

Monocular Depth and Velocity Estimation Based on Multi-Cue Fusion

Chunyang Qi, Hongxiang Zhao, Chuanxue Song, Naifu Zhang, Sinxin Song, Haigang Xu, Feng Xiao
2022 Machines  
Existing vehicle distance and speed estimation algorithms based on monocular cameras still have limitations, such as ignoring the relationship between the underlying features of vehicle speed and distance  ...  A multi-cue fusion monocular velocity and ranging framework is proposed to improve the accuracy of monocular ranging and velocity measurement.  ...  Acknowledgments: The authors would like to express their gratitude to the editors and the anonymous reviewers for their insightful and constructive comments and suggestions, which have led to this improved  ... 
doi:10.3390/machines10050396 fatcat:zvtmbhnw7nhfdp7khgxonmbqde

Joint Monocular 3D Vehicle Detection and Tracking [article]

Hou-Ning Hu, Qi-Zhi Cai, Dequan Wang, Ji Lin, Min Sun, Philipp Krähenbühl, Trevor Darrell, Fisher Yu
2019 arXiv   pre-print
In this paper, we propose a novel online framework for 3D vehicle detection and tracking from monocular videos.  ...  The framework can not only associate detections of vehicles in motion over time, but also estimate their complete 3D bounding box information from a sequence of 2D images captured on a moving platform.  ...  Acknowledgements The authors gratefully acknowledge the support of Berkeley AI Research, Berkeley DeepDrive and MOST-107 2634-F-007-007, MOST Joint Research Center for AI Technology and All Vista Healthcare  ... 
arXiv:1811.10742v3 fatcat:jwsqawtuyvdxvfxewe34kgbx4q

Review on Vehicle Detection Technology for Unmanned Ground Vehicles

Qi Liu, Zirui Li, Shihua Yuan, Yuzheng Zhu, Xueyuan Li
2021 Sensors  
Environmental perception technology is the foundation of UGVs, which is of great significance to achieve a safer and more efficient performance.  ...  Finally, promising research topics in the future study of vehicle detection technology for UGVs are discussed in detail.  ...  In [222] , monocular camera and Lidar was combined for vehicle detection.  ... 
doi:10.3390/s21041354 pmid:33672976 fatcat:ammlsccxbbhgpkx6r5vod7ciuy

Cooperative Visual Augmentation Algorithm of Intelligent Vehicle Based on Inter-Vehicle Image Fusion

Wei Liu, Yun Ma, Mingqiang Gao, Shuaidong Duan, Longsheng Wei
2021 Applied Sciences  
Based on a 3D inter-vehicle projection model, selected feature matching points are adopted to estimate the geometric transformation parameters.  ...  In a connected vehicle environment based on vehicle-to-vehicle (V2V) technology, images from front and ego vehicles are fused to augment a driver's or autonomous system's visual field, which is helpful  ...  Acknowledgments: The authors would like to thank Jinlong Shi for helpful discussions. We also thank Yuanfang Wang for supplying some data of [18] and helpful comments.  ... 
doi:10.3390/app112411917 fatcat:dtoyel6jynfufd56matj4hpwwy

The Correlation between Vehicle Vertical Dynamics and Deep Learning-Based Visual Target State Estimation: A Sensitivity Study

Yannik Weber, Stratis Kanarachos
2019 Sensors  
To this end, we conducted an extensive road field study and validated a computational tool for performing the assessment using simulations.  ...  Undeniably, the role of cameras and Artificial Intelligence-based (AI) vision is vital in the perception of the driving environment and road safety.  ...  To this end, we generate two fully validated vehicle simulation and camera sensor models: A multi-body vehicle dynamics and monocular camera representation in the IPG CarMaker (CM) environment are generated  ... 
doi:10.3390/s19224870 pmid:31717341 pmcid:PMC6891543 fatcat:kcimwk45n5c37p5ugktbzsxndu

Robust Vehicle Detection and Distance Estimation Under Challenging Lighting Conditions

Mahdi Rezaei, Mutsuhiro Terauchi, Reinhard Klette
2015 IEEE transactions on intelligent transportation systems (Print)  
and inter-vehicle distance estimation, in which the performance and robustness of the system remain competitive, even for highly challenging benchmark datasets.  ...  The paper develops a collision warning system by detecting vehicles ahead, and by identifying safety distances to assist a distracted driver, prior to occurrence of an imminent crash.  ...  The objective is to detect multiple vehicles in a road scene using multiple data clues captured by a single camera. We also propose a solution for distance estimation using a monocular camera.  ... 
doi:10.1109/tits.2015.2421482 fatcat:dhofsmiwyrdszpv4jag3kti7m4

A Survey of Autonomous Driving: Common Practices and Emerging Technologies

Ekim Yurtsever, Jacob Lambert, Alexander Carballo, Kazuya Takeda
2020 IEEE Access  
Automated driving systems (ADSs) promise a safe, comfortable and efficient driving experience. However, fatalities involving vehicles equipped with ADSs are on the rise.  ...  The paper concludes with an overview of available datasets and tools for ADS development.  ...  A monocular camera was used to localize the vehicle in a point cloud map in [123] .  ... 
doi:10.1109/access.2020.2983149 fatcat:t3w7nopogvbhvbbkgpk3dknn5u

A Survey of Autonomous Driving: Common Practices and Emerging Technologies [article]

Ekim Yurtsever, Jacob Lambert, Alexander Carballo, Kazuya Takeda
2020 arXiv   pre-print
Automated driving systems (ADSs) promise a safe, comfortable and efficient driving experience. However, fatalities involving vehicles equipped with ADSs are on the rise.  ...  The paper concludes with an overview of available datasets and tools for ADS development.  ...  A monocular camera was used to localize the vehicle in a point cloud map in [121] .  ... 
arXiv:1906.05113v2 fatcat:2hqztllrgjhndbc5aebduvukai

Surround-View Cameras based Holistic Visual Perception for Automated Driving [article]

Varun Ravi Kumar
2022 arXiv   pre-print
Recent advances in computer vision and deep learning, in conjunction with high-quality sensors such as cameras and LiDARs, have fueled mature visual perception solutions.  ...  Near-field visual perception in the context of self-driving cars can perceive the environment in a range of 0-10 meters and 360 coverage around the vehicle.  ...  Acknowledgements First and foremost, I would like to express my sincere gratitude to my Ph.D. advisor Acknowledgements xvi  ... 
arXiv:2206.05542v1 fatcat:cdpn6afpvvf7hnsvry7cqbjq3u

Advances in Vision-Based Lane Detection: Algorithms, Integration, Assessment, and Perspectives on ACP-Based Parallel Vision

Yang Xing, Chen Lv, Long Chen, Huaji Wang, Hong Wang, Dongpu Cao, Efstathios Velenis, Fei-Yue Wang
2018 IEEE/CAA Journal of Automatica Sinica  
Next, considering the inevitable limitations that exist in the camera-based lane detection system, the system integration methodologies for constructing more robust detection systems are reviewed and analyzed  ...  A large number of existing results focus on the study of vision-based lane detection methods due to the extensive knowledge background and the low-cost of camera devices.  ...  In [49] , a learning-based lane detection method was proposed and tracked with a particle filter. The learning-based algorithm requires no prior road model and vehicle velocity knowledge.  ... 
doi:10.1109/jas.2018.7511063 fatcat:tjewl25slfb2ngxlrlalktksvy

AICP: Augmented Informative Cooperative Perception [article]

Pengyuan Zhou, Pranvera Kortoci, Yui-Pan Yau, Tristan Braud, Xiujun Wang, Benjamin Finley, Lik-Hang Lee, Sasu Tarkoma, Jussi Kangasharju, Pan Hui
2022 arXiv   pre-print
To this end, an informativeness maximization problem is presented for vehicles to select a subset of data to display to their drivers.  ...  Connected vehicles, whether equipped with advanced driver-assistance systems or fully autonomous, require human driver supervision and are currently constrained to visual information in their line-of-sight  ...  Our implementation operates with a monocular camera (on the Android phone), while vehicles with stereoscopic cameras could make transformations easier.  ... 
arXiv:2101.05508v3 fatcat:zta3veuwr5anzfbegqxoa4qmba

On-board image-based vehicle detection and tracking

Daniel Ponsa, Joan Serrat, Antonio M. López
2009 Transactions of the Institute of Measurement and Control  
It has a reduced processing time and high accuracy thanks to the combination of vehicle detection with lane-markings estimation and temporal tracking of both vehicles and lane markings.  ...  In this paper we present a computer vision system for daytime vehicle detection and localization, an essential step in the development of several types of advanced driver assistance systems.  ...  Acknowledgements This work has been partially funded by grants TRA2007-62526/AUT of the Spanish Education and Science Ministry, and Consolider Ingenio 2010: MIPRCV (CSD2007-00018).  ... 
doi:10.1177/0142331209103039 fatcat:zafoszhdibg4nb7azrttfadbee

Radar and stereo vision fusion for multitarget tracking on the special Euclidean group

Josip Ćesić, Ivan Marković, Igor Cvišić, Ivan Petrović
2016 Robotics and Autonomous Systems  
For example, works based on a monocular camera use radar for finding regions of interest in the image [4] [5] [6] [7] , process separately image and radar data [8] [9] [10] , use motion stereo to reconstruct  ...  The present paper addresses detection and tracking of moving objects within the context of ADAS. We use a multisensor setup consisting of a radar and a stereo camera mounted on top of a vehicle.  ...  Since in ADAS applications sensors with very different characteristics are used; e.g. radar with higher lateral uncertainty, but precise range estimation, and stereo camera with low lateral uncertainty  ... 
doi:10.1016/j.robot.2016.05.001 fatcat:fivxxn4fwjcl3dc5ikv6bh5ij4

Context Model for Pedestrian Intention Prediction using Factored Latent-Dynamic Conditional Random Fields [article]

Satyajit Neogi, Michael Hoy, Kang Dang, Hang Yu, Justin Dauwels
2019 arXiv   pre-print
Smooth handling of pedestrian interactions is a key requirement for Autonomous Vehicles (AV) and Advanced Driver Assistance Systems (ADAS).  ...  Such systems call for early and accurate prediction of a pedestrian's crossing/not-crossing behaviour in front of the vehicle.  ...  We are very thankful to all the reviewers for their valuable feedback.  ... 
arXiv:1907.11881v2 fatcat:zyf2gdi6rbed3f42wbqi2wehv4
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