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Probabilistic Grid-Based Collision Risk Prediction for Driving Application [chapter]

Lukas Rummelhard, Amaury Nègre, Mathias Perrollaz, Christian Laugier
2015 Springer Tracts in Advanced Robotics  
In this paper, we propose a new grid-based approach for collision risk prediction, based on the Hybrid-Sampling Bayesian Occupancy Filter framework.  ...  This is necessary for both Advanced Driver Assistance Systems and Autonomous Navigation. Most approach for risk estimation propose to detect and track the dynamic objects in the scene.  ...  Another alternative to the object-based approaches are the grid-based approaches, like the Bayesian Occupancy Filter [6] , or its extension Hybrid -Sampling Bayesian Occupancy Filter (HSBOF) [7] , which  ... 
doi:10.1007/978-3-319-23778-7_54 fatcat:xzwgff7pwbavpkhrjmxqc34x2y

Bayesian Occupancy Filtering for Multitarget Tracking: An Automotive Application

Christophe Coué, Cédric Pradalier, Christian Laugier, Thierry Fraichard, Pierre Bessière
2006 The international journal of robotics research  
This approach is called Bayesian occupancy filtering; it basically combines a four-dimensional occupancy grid representation of the obstacle state space with Bayesian filtering techniques.  ...  Most of today's systems use target tracking algorithms based on object models. They work quite well in simple environments such as freeways, where few potential obstacles have to be considered.  ...  Bayesian Occupancy Filter Based Collision Avoidance The goal of this section is to show how the BOF can be used for developing a collision avoidance function on an autonomous vehicle.  ... 
doi:10.1177/0278364906061158 fatcat:almmqpj3bjhjlk5jqvgoc754we

Awareness of Road Scene Participants for Autonomous Driving [chapter]

Anna Petrovskaya, Mathias Perrollaz, Luciano Oliveira, Luciano Spinello, Rudolph Triebel, Alexandros Makris, John-David Yoder, Christian Laugier, Urbano Nunes, Pierre Bessiere
2012 Handbook of Intelligent Vehicles  
This approach utilizes geometric object models and relies on non-parametric filters for inference. Finally, the third class is the grid based approach, which starts by constructing a low level grid  ...  First is the traditional approach, which includes data segmentation, data association, and filtering using primarily Kalman filters.  ...  In DATMO, separate Bayesian filters are used to track the state of each moving object (or cell).  ... 
doi:10.1007/978-0-85729-085-4_54 fatcat:lrnbnr4q5vbzrd3pausguhbhom

A Review of the Bayesian Occupancy Filter

Marcelo Saval-Calvo, Luis Medina-Valdés, José Castillo-Secilla, Sergio Cuenca-Asensi, Antonio Martínez-Álvarez, Jorge Villagrá
2017 Sensors  
In recent years, the Bayesian Occupancy Filter (BOF) method has been developed to evaluate occupancy by tessellation of the environment.  ...  In addition, we present a study of implemented use cases to provide a practical understanding on the main uses of the BOF and its taxonomy.  ...  The approach presented in [4, 8] combines multiple sensors using a grid model and based on the Bayesian principle.  ... 
doi:10.3390/s17020344 pmid:28208638 pmcid:PMC5336118 fatcat:lqrveyhxwrhkdlxwf452u6bdmy

A review of recent developments in vision-based vehicle detection

Sayanan Sivaraman, Mohan M. Trivedi
2013 2013 IEEE Intelligent Vehicles Symposium (IV)  
We detail advances in vehicle detection, discussing representative works from the monocular and stereo-vision domains.  ...  This document provides a review of the past decade's literature in on-road vision-based vehicle detection.  ...  In [68] [78] , scene tracking and recursive Bayesian filtering is used to populate the occupancy grid each frame, while objects are detected via clustering.  ... 
doi:10.1109/ivs.2013.6629487 dblp:conf/ivs/SivaramanT13 fatcat:z2ygschnajaovcf65g5kur4mq4

Titelei/Inhaltsverzeichnis [chapter]

Matthias Schreiner
2016 Bayesian Environment Representation, Prediction, and Criticality Assessment for Driver Assistance Systems  
Finally, the Advanced Driver Assistance System (ADAS) PRORETA 3 is described, which constitutes an integrated approach to collision avoidance and vehicle automation.  ...  They are obtained by a novel method for grid mapping and tracking in dynamic environments.  ...  of Moving Objects DBF Discrete Bayes Filter DBN Dynamic Bayesian Network DBSCAN Density Based Spatial Clustering for Applications with Noise EKF Extended Kalman Filter FN False Negative FP  ... 
doi:10.51202/9783186797124-i fatcat:lfvf7xy4mzgxdgpzgglth7jlzy

Simultaneous Localization, Mapping and Moving Object Tracking

Chieh-Chih Wang, Charles Thorpe, Sebastian Thrun, Martial Hebert, Hugh Durrant-Whyte
2007 The international journal of robotics research  
Both SLAM and moving object tracking from a moving vehicle in crowded urban areas are daunting tasks.  ...  Such an approach is similar to existing SLAM algorithms, but with additional structure to allow for motion modeling of generalized objects.  ...  Acknowledgment Thanks to the members of the CMU Navlab group for their excellent work on building and maintaining the Navlab11 vehicles, and for their helps on collecting data.  ... 
doi:10.1177/0278364907081229 fatcat:37fszo6ic5htfdtisibop4mymm

Moving ground target tracking in urban terrain using air/ground vehicles

Mark Owen, Huili Yu, Tim McLain, Randy Beard
2010 2010 IEEE Globecom Workshops  
Results show the platform can be further used to test more advanced tracking algorithms like the proposed tracking framework.  ...  In this paper, we present a framework for tracking a moving target in urban environments using UAVs in cooperation with UGVs.  ...  The dynamic occupancy grid approach utilizes Bayesian filtering to implement approximate posterior estimation for each grid cell. Bayesian filtering consists of two phases: prediction and update.  ... 
doi:10.1109/glocomw.2010.5700254 fatcat:hxytfdq7vba2dj46jhb75wdusq

A Generic Architecture for Dynamic Outdoor Environment

Olivier Aycard, Trung-Dung Vu, Qadeer Baig, Thierry Fraichard
2011 2011 IEEE 23rd International Conference on Tools with Artificial Intelligence  
In this paper, we present a generic architecture for perception of an intelligent vehicle in dynamic outdoor environment.  ...  This architecture is composed of two levels: a first level dedicated to real-time local simultaneous localization and mapping (SLAM) and a second one is dedicated to detection and tracking of moving objects  ...  Regarding tracking techniques, Bayesian filters [2] are generally used.  ... 
doi:10.1109/ictai.2011.93 dblp:conf/ictai/AycardVBF11 fatcat:cihi2wzg5ncsjasbkzlqbckcb4

Recognize Moving Objects Around an Autonomous Vehicle Considering a Deep-learning Detector Model and Dynamic Bayesian Occupancy

Andres E. Gomez Hernandez, Ozgur Erkent, Christian Laugier
2020 2020 16th International Conference on Control, Automation, Robotics and Vision (ICARCV)  
scenery. • Fusion of an object detection method with a Bayesian filter framework at a later stage for recognize moving objects in the environment.  ...  Moreover, we use a Bayesian occupancy framework with a Highly-parallelized design to obtain the occupancygrid estimations.We validate our approach using experimental results with real-world data on urban  ...  In this paper, we propose a new approach to recognize moving objects around an autonomous vehicle by fusing preprocessed information from two sensors.  ... 
doi:10.1109/icarcv50220.2020.9305328 fatcat:r7hd3awuw5dc3bfq6w27fba5kq

Experiments in Vision-Laser Fusion Using the Bayesian Occupancy Filter [chapter]

John-David Yoder, Mathias Perrollaz, Igor E. Paromtchik, Yong Mao, Christian Laugier
2014 Springer Tracts in Advanced Robotics  
The BOF, an adaptation of Bayesian filtering to the occupancy grid framework, offers several advantages.  ...  Stereo vision and laser sensors are both regularly used to create occupancy grids, but unlike other works, this information is fused using the Bayesian Occupancy Filter (BOF) [7] .  ... 
doi:10.1007/978-3-642-28572-1_62 fatcat:clc66aulnnez7c3elakpugfqzm

Efficient Techniques for Dynamic Vehicle Detection [chapter]

Anna Petrovskaya, Sebastian Thrun
2009 Springer Tracts in Advanced Robotics  
The algorithm provides reliable detection of moving vehicles from a high-speed moving platform using laser range finders.  ...  We present the notion of motion evidence, which allows us to overcome the low signal-to-noise ratio that arises during rapid detection of moving vehicles in noisy urban environments.  ...  The Stanford Racing Team is indebted to DARPA for creating the UGC, and for its financial support under the Track A Program. Further, Stanford University thanks its various sponsors.  ... 
doi:10.1007/978-3-642-00196-3_10 fatcat:i4vxkwq5qfeatbax2ruvp6i3da

Results of a precrash application based on Laserscanner and short range radars

Sylvia Pietzsch, Olivier Aycard, Julien Burlet, Trung Dung Vu, Thomas Hackbarth, Nils Appenrodt, Juergen Dickmann, Bernd Radig
2008 2008 IEEE Intelligent Vehicles Symposium  
In this paper, we present a vehicle safety application based on data gathered by a laser scanner and two short range radars that recognizes unavoidable collisions with stationary objects before they take  ...  A comprehensive experimental evaluation based on relevant crash and non-crash scenarios is presented.  ...  Module 2 is based on simultaneous localization and mapping techniques (SLAM) together with the detection and tracking of moving objects. The environment is modeled using an Occupancy Grid.  ... 
doi:10.1109/ivs.2008.4621264 fatcat:v7yt65fywjh7dnzm3gccze5hiy

Simultaneous Localization and Mapping [chapter]

Sebastian Thrun, John J. Leonard
2008 Springer Handbook of Robotics  
The probabilistic approach to solve the whole problem has been implemented with the Navlab11 vehicle.  ...  The simultaneous localization and mapping (SLAM) with detection and tracking of moving objects (DATMO) problem is not only to solve the SLAM problem in dynamic environments but also to detect and track  ...  Fig. 2 shows the results of SLAM with moving vehicle detection by our motion-based approach.  ... 
doi:10.1007/978-3-540-30301-5_38 fatcat:goyxpk4nwbahte7cmximl2dtqe

Traffic Model Evaluation of Ad Hoc Target Tracking Algorithms

R.R. Brooks, C. Griffin
2002 The international journal of high performance computing applications  
Experimental evaluation is performed for alternative target-tracking algorithms using the framework. Evaluation uses discrete cellular automata models.  ...  In this paper we describe a self-organizing framework for distributed target tracking built on ad hoc publish-subscribe data routing techniques.  ...  ACKNOWLEDGEMENTS Efforts sponsored by the Defense Advance Research Projects Agency (DARPA) and Air Force Research Laboratory, Air Force Materiel Command, USAF, under agreement number F30602-99-2-0520 (  ... 
doi:10.1177/10943420020160030301 fatcat:6puzo77f4vckhcxapkvao5japi
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