DocumentCode :
3269476
Title :
Road Border Recognition Using FIR Images and LIDAR Signal Processing
Author :
Fardi, Basel ; Weigel, Hendrik ; Wanielik, Gerd ; Takagi, Kiyokazu
Author_Institution :
Chemnitz Univ. of Technol., Chemnitz
fYear :
2007
fDate :
13-15 June 2007
Firstpage :
1278
Lastpage :
1283
Abstract :
This paper addresses the detection and tracking of road borders in non cooperative environments. A 2-dimensional scanning LIDAR is used to improve the reliability of the FIR camera based road border recognition. In order to detect the road boarders we apply a Kalman-filter based model fitting strategy. Extracted measurements of the FIR images are transformed into the vehicle coordinate system in order to provide a precise description of the road course ahead. The model description in a common coordinate system -the vehicle coordinate system -allows an easy compensation of the ego-motion and a direct and straight forward fusion of the different sensor data. Both the detection and the estimation were developed and enhanced for the intended sensor configuration. The corresponding mathematical derivations are presented in this paper. Using the range values, delivered by the LIDAR, a more stable estimation of the pitch angle can be achieved. The realization of that is shown in detail. This is used to define the ROI in which the image processing is carried out.
Keywords :
Kalman filters; image recognition; infrared imaging; object detection; optical radar; radar detection; radar imaging; road vehicle radar; sensor fusion; traffic engineering computing; 2-dimensional scanning LIDAR; FIR images; Kalman-fllter based model fitting strategy; LIDAR signal processing; ego-motion; image processing; road border recognition; sensor data fusion; vehicle coordinate system; Cameras; Coordinate measuring machines; Finite impulse response filter; Image recognition; Laser radar; Road vehicles; Sensor fusion; Sensor phenomena and characterization; Sensor systems; Signal processing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Vehicles Symposium, 2007 IEEE
Conference_Location :
Istanbul
ISSN :
1931-0587
Print_ISBN :
1-4244-1067-3
Electronic_ISBN :
1931-0587
Type :
conf
DOI :
10.1109/IVS.2007.4290294
Filename :
4290294
Link To Document :
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