Title :
Adaptive estimation procedures for dynamic road scene analysis
Author :
Kasprzak, Wlodzimierz ; Niemann, Heinrich ; Wetzel, Dirk
Author_Institution :
Knowledge Process. Res. Group, Bavarian Res. Center for Knowledge-Based Syst., Erlangen, Germany
Abstract :
The common task of several processing steps in a vision system for autonomous road vehicle guidance is to stabilize the single image measurements of following image or scene features: contour motion, vanishing point, road class, moving object state and egomotion. An adaptive estimation procedure with linear or extended Kalman filter is applied for adaptive feature estimation. Redundant measurements and weighted averaging of short sequence measurements are proposed for robust detection and measurement error estimation
Keywords :
adaptive Kalman filters; adaptive estimation; computer vision; edge detection; error analysis; image sequences; road vehicles; adaptive estimation procedures; adaptive feature estimation; autonomous road vehicle guidance; contour motion; dynamic road scene analysis; egomotion; extended Kalman filter; linear Kalman filter; measurement error estimation; moving object state; processing steps; redundant measurements; road class; robust detection; short sequence measurements; single image measurements; vanishing point; vision system; weighted averaging; Adaptive estimation; Image analysis; Layout; Machine vision; Motion measurement; Navigation; Road vehicles; Robustness; Vehicle dynamics; Weight measurement;
Conference_Titel :
Image Processing, 1994. Proceedings. ICIP-94., IEEE International Conference
Conference_Location :
Austin, TX
Print_ISBN :
0-8186-6952-7
DOI :
10.1109/ICIP.1994.413377
