Conference
Intelligent Vehicles Symposium
About: Intelligent Vehicles Symposium is an academic conference. The conference publishes majorly in the area(s): Object detection & Mobile robot. Over the lifetime, 898 publications have been published by the conference receiving 23908 citations.
Topics: Object detection, Mobile robot, Advanced driver assistance systems, Sensor fusion, Image processing
Papers
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09 Jun 2003TL;DR: This paper analyzes a position-based routing approach that makes use of the navigational systems of vehicles and compares this approach with non-position-based ad hoc routing strategies (dynamic source routing and ad-hoc on-demand distance vector routing).
Abstract: Routing of data in a vehicular ad hoc network is a challenging task due to the high dynamics of such a network. Recently, it was shown for the case of highway traffic that position-based routing approaches can very well deal with the high mobility of network nodes. However, baseline position-based routing has difficulties to handle two-dimensional scenarios with obstacles (buildings) and voids as it is the case for city scenarios. In this paper we analyze a position-based routing approach that makes use of the navigational systems of vehicles. By means of simulation we compare this approach with non-position-based ad hoc routing strategies (dynamic source routing and ad-hoc on-demand distance vector routing). The simulation makes use of highly realistic vehicle movement patterns derived from Daimler-Chrysler's Videlio traffic simulator. While DSR's performance is limited due to problems with scalability and handling mobility, both AODV and the position-based approach show good performances with the position-based approach outperforming AODV.
912 citations
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06 Jun 2005TL;DR: This paper describes a computer vision based system for real-time robust traffic sign detection, tracking, and recognition that offers a generic, joint modeling of color and shape information without the need of tuning free parameters.
Abstract: This paper describes a computer vision based system for real-time robust traffic sign detection, tracking, and recognition. Such a framework is of major interest for driver assistance in an intelligent automotive cockpit environment. The proposed approach consists of two components. First, signs are detected using a set of Haar wavelet features obtained from AdaBoost training. Compared to previously published approaches, our solution offers a generic, joint modeling of color and shape information without the need of tuning free parameters. Once detected, objects are efficiently tracked within a temporal information propagation framework. Second, classification is performed using Bayesian generative modeling. Making use of the tracking information, hypotheses are fused over multiple frames. Experiments show high detection and recognition accuracy and a frame rate of approximately 10 frames per second on a standard PC.
447 citations
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08 Jun 2014TL;DR: The strategy for trajectory planning that was used on-board the vehicle that completed the 103 km of the Bertha-Benz-Memorial-Route fully autonomously is presented and a local, continuous method that is derived from a variational formulation is suggested.
Abstract: In this paper, we present the strategy for trajectory planning that was used on-board the vehicle that completed the 103 km of the Bertha-Benz-Memorial-Route fully autonomously. We suggest a local, continuous method that is derived from a variational formulation. The solution trajectory is the constrained extremum of an objective function that is designed to express dynamic feasibility and comfort. Static and dynamic obstacle constraints are incorporated in the form of polygons. The constraints are carefully designed to ensure that the solution converges to a single, global optimum.
406 citations
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25 Sep 1995TL;DR: In this paper, a system called Rapidly Adapting Lateral Position Handler (RALPH) is presented, which decomposes the problem of steering a vehicle into three steps, sampling of the image, determining the road curvature, and determining the lateral offset of the vehicle relative to the lane center.
Abstract: Nearly 15,000 people die each year in the US in single vehicle roadway departure crashes. These accidents are often caused by driver inattention, or driver impairment (e.g. fatigued or intoxicated drivers). A system capable of warning the driver when the vehicle starts to depart the roadway, or controlling the lateral position of the vehicle to keep it in its lane, could potentially eliminate many of these crashes. This paper presents a system called RALPH (Rapidly Adapting Lateral Position Handler) which decomposes the problem of steering a vehicle into three steps, 1) sampling of the image, 2) determining the road curvature, and 3) determining the lateral offset of the vehicle relative to the lane center. The output of the later two steps are combined into a steering command, which can be compared with the human driver's current steering direction as part of a road departure warning system, or sent directly to the steering motor.
348 citations
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09 Jun 2003TL;DR: The range and range-rate from a single camera is discussed and the bound on the accuracy given a particular configuration is determined, which determines what steps must be made to achieve good performance.
Abstract: This paper describes a vision-based adaptive cruise control (ACC) system which uses a single camera as input. In particular, we discuss how to compute the range and range-rate from a single camera and discuss how the imaging geometry affects the range and range rate accuracy. We determine the bound on the accuracy given a particular configuration. These bounds in turn determine what steps must be made to achieve good performance. The system has been implemented on a test vehicle and driven on various highways over thousands of miles.
263 citations