Road course estimation in a night vision application using a digital map, a camera sensor and a prototypical imaging radar system

Author

Serfling, Matthias ; Schweiger, Roland ; Ritter, Werner

Author_Institution

Daimler AG, GR/EAP, Ulm

fYear

2008

fDate

4-6 June 2008

Firstpage

810

Lastpage

815

Abstract

This contribution presents a road course estimation system during night which covers distances up to 120 m in rural environment. This is essential for upcoming warning systems to decide, whether a detected object is on the road and thus of immediate importance. In order to realize a robust road course detection system we present a fusion system that combines the information provided by a prototypical imaging radar system, a digital map and a night vision camera sensor. The digital map is used to calculate the shape of the road, an ego motion estimator determines heading and position of the vehicle and a particle filter combines features from the camera and the radar sensor in order to match the road shape with the road visible in the image.

Keywords

cameras; motion estimation; night vision; particle filtering (numerical methods); radar imaging; road vehicle radar; sensor fusion; traffic engineering computing; camera sensor; digital map; ego motion estimator; fusion system; imaging radar system; night vision; particle filter; road course estimation; rural environment; warning systems; Digital cameras; Image sensors; Night vision; Prototypes; Radar applications; Radar detection; Radar imaging; Roads; Sensor systems and applications; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium, 2008 IEEE

Conference_Location

Eindhoven

ISSN

1931-0587

Print_ISBN

978-1-4244-2568-6

Electronic_ISBN

1931-0587

Type

conf

DOI

10.1109/IVS.2008.4621312

Filename

4621312