road boundary detection and tracking using monochrome...
TRANSCRIPT
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Road Boundary Detection and Tracking
Using Monochrome Camera Images
Sarah Strygulec, Dennis Müller, Mirko Meuter, Christian Nunn,
Sharmila (Lali) Ghosh, Christian Wöhler
16th International Conference on Information Fusion 2013
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Motivation
• prevention of accidents important task in driver assistance
• many accidents are caused by inattention
• most systems for lane departure warning rely on lane
markings
• systems for roads without lane markings still required
development of a system for road boundary detection
and tracking
system that is not restricted to roads with lane markings
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Particle Filter System - Overview
measurement extraction
calculation of likelihood
weight update estimation of
true state
monochrome image
input
output
motion model
prior pdf
posterior pdf
resampling
![Page 4: Road Boundary Detection and Tracking Using Monochrome ...interactive-ip.eu/index.dhtml/docs/interactIVe-SP2-RBD_presentation_Delphi.pdf · Road Boundary Detection and Tracking Using](https://reader034.vdocuments.site/reader034/viewer/2022050718/5e179f15b5a7b40bbf0b8ee6/html5/thumbnails/4.jpg)
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Dynamic System – Clothoid Road Model
state vector
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Dynamic System – Motion Model
•
• relative motion of road boundary:
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Particle Filter System - Overview
measurement extraction
calculation of likelihood
weight update estimation of
true state
monochrome image
input
output
motion model
prior pdf
posterior pdf
resampling
![Page 7: Road Boundary Detection and Tracking Using Monochrome ...interactive-ip.eu/index.dhtml/docs/interactIVe-SP2-RBD_presentation_Delphi.pdf · Road Boundary Detection and Tracking Using](https://reader034.vdocuments.site/reader034/viewer/2022050718/5e179f15b5a7b40bbf0b8ee6/html5/thumbnails/7.jpg)
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•
Measurement – Image Classification
■ road
■ non-road
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Measurement – Overlapping
combined feature
vectors
feature extraction
regions
combined feature
vectors
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Measurement – Probability
GT: road GT: non-road
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Particle Filter System - Overview
measurement extraction
calculation of likelihood
weight update estimation of
true state
monochrome image
input
output
motion model
prior pdf
posterior pdf
resampling
![Page 11: Road Boundary Detection and Tracking Using Monochrome ...interactive-ip.eu/index.dhtml/docs/interactIVe-SP2-RBD_presentation_Delphi.pdf · Road Boundary Detection and Tracking Using](https://reader034.vdocuments.site/reader034/viewer/2022050718/5e179f15b5a7b40bbf0b8ee6/html5/thumbnails/11.jpg)
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Likelihood – Calculation (1/2)
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Likelihood – Calculation (2/2)
idx0
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Particle Filter System - Overview
measurement extraction
calculation of likelihood
weight update estimation of
true state
monochrome image
input
output
motion model
prior pdf
posterior pdf
resampling
![Page 14: Road Boundary Detection and Tracking Using Monochrome ...interactive-ip.eu/index.dhtml/docs/interactIVe-SP2-RBD_presentation_Delphi.pdf · Road Boundary Detection and Tracking Using](https://reader034.vdocuments.site/reader034/viewer/2022050718/5e179f15b5a7b40bbf0b8ee6/html5/thumbnails/14.jpg)
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Results
match-rate 0.7729
RMSE[m] 0.2957
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Videos
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Thank you.
Delphi Deutschland GmbH
TU Dortmund University
Image Analysis Group