DocumentCode :
3523169
Title :
Traffic signs localisation for highways inventory from a video camera on board a moving collection van
Author :
Arnoul, P. ; Viala, M. ; Guerin, Jp ; Mergy, M.
Author_Institution :
CEA, Centre d´´Etudes Nucleaires de Saclay, Gif-sur-Yvette, France
fYear :
1996
fDate :
19-20 Sep 1996
Firstpage :
141
Lastpage :
146
Abstract :
The work presented is part of a CEC funded R&D Esprit project called AUTOCAT (Automatic Collection of road Attributes). The aim of the project was to demonstrate the automatic detection and localisation of traffic signs along the roads, in order to trigger the selective acquisition of a high resolution digital picture for sign inventory purpose. A Kalman tracker has been implemented to localise the signs (in 3D) from their apparent motion within the field of view of a wide angle camera, taking into account the camera motion. The whole image processing chain has been tuned on synthetic road-scene image sequences of a custom virtual circuit then validated in the field on the real vehicle demonstrator using the motion information of the embedded inertial navigation system. The results obtained show the successful coupling of an inertial navigation system, providing an accurate camera motion information, with a real time image processing system performing multi-target detection and tracking. It is shown how this application takes advantage of the Kalman filter implementation as an optimal estimator in the case of a moving camera analysing a static scene
Keywords :
Kalman filters; computer vision; image segmentation; image sequences; inertial navigation; motion estimation; object recognition; optical tracking; real-time systems; traffic information systems; AUTOCAT project; Esprit project; Kalman filter; camera motion information; computer vision; highways inventory; image processing; image segmentation; inertial navigation system; real time systems; road attribute data collection; target detection; target tracking; traffic sign inventory; traffic sign localisation; Automated highways; Cameras; Image processing; Image sequences; Inertial navigation; Kalman filters; Road transportation; Road vehicles; Tracking; Tuned circuits;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Vehicles Symposium, 1996., Proceedings of the 1996 IEEE
Conference_Location :
Tokyo
Print_ISBN :
0-7803-3652-6
Type :
conf
DOI :
10.1109/IVS.1996.566368
Filename :
566368
Link To Document :
بازگشت