Abstract

The 2WIDE_SENSE (WIDE spectral band & WIDE dynamics multifunctional imaging SENSor Enabling safer car transportation) EU funded project is aimed at the development of a low-cost camera sensor for Advanced Driver Assistance Systems (ADAS) applications able to acquire the full visible to Short Wave InfraRed (SWIR) spectrum from 400 to 1700 nm. This paper presents the first results obtained by investigating the SWIR contribution to pedestrian detection in difficult visibility conditions as haze and fog employing the wide-bandwidth camera developed within the project. Document type: Part of book or chapter of book

Abstract

The article considers the active safety system of road freight transport. The stereoscopic computer vision is the core of the system. The article also describes the major algorithms of active safety and the accuracy characteristics of algorithms’ application. Document type: Part of book or chapter of book

Abstract

This paper describes a system for pedestrian detection in infrared images implemented and tested on an experimental vehicle. A specific stabilization procedure is applied after image acquisition and before processing to cope with vehicle movements affecting the camera calibration. The localization of pedestrians is based on the search for warm symmetrical objects with specific size and aspect ratio. A set of filters is used to reduce false detections. The final validation process relies on the human shape’s morphological characteristics. Document type: Part of book or chapter of book

Abstract

Co-encadrement de la thèse : Bogdan Stanciulescu; Pedestrian Detection and Traffic Sign Recognition (TSR) are important components of an Advanced Driver Assistance System (ADAS). This thesis presents two methods for eliminating false alarms in pedestrian detection applications and a novel three stage approach for TSR. Our TSR approch consists of a color segmentation, a shape detection and a content classification phase. The red color enhancement is improved by using an adaptive threshold. The performance of the K-d tree is augmented by introducing a spatial weighting. The Random Forests yield a classification accuracy of 97% on the German Traffic Sign Recognition Benchmark. Moreover, the processing and memory requirements are reduced by employing a feature space reduction. The classifiers attain an equally high classification rate using only a fraction of the feature dimension, selected using the Random Forest or Fisher's Criterion. This technique is also validated on two different multiclass benchmarks: ETH80 and Caltech 101. Further, in a static camera video surveillance application, the immobile false positives, such as trees and poles, are eliminated using the correlation measure over several frames. The recurring false alarms in the pedestrian detection in the scope of an embedded ADAS application are removed using a complementary tree filter.; La détection de piétons et la reconnaissance des panneaux routiers sont des fonctions importantes des systèmes d'aide à la conduite (anglais : Advanced Driver Assistance System - ADAS). Une nouvelle approche pour la reconnaissance des panneaux et deux méthodes d'élimination de fausses alarmes dans des applications de détection de piétons sont présentées dans cette thèse. Notre approche de reconnaissance de panneaux consiste en trois phases: une segmentation de couleurs, une détection de formes et une classification du contenu. Le color enhancement des régions rouges est amélioré en introduisant un seuil adaptatif. Dans la phase de classification, la performance du K-d tree est augmentée en utilisant un poids spatial. Les Random Forests obtiennent un taux de classification de 97% sur le benchmark allemand de la reconnaissance des panneaux routiers (German Traffic Sign Recognition Benchmark). Les besoins en mémoire et calcul sont réduits en employant une réduction de la dimension des caractéristiques. Les classifieurs atteignent un taux de classification aussi haut qu'avec une fraction de la dimension des caractéristiques, selectionée en utilisant des Random Forests ou Fisher's Crtierion. Cette technique est validée sur deux benchmarks d'images multiclasses : ETH80 et Caltech 101. Dans une application de vidéo surveillance avec des caméras statiques, les fausses alarmes des objets fixes, comme les arbres et les lampadaires, sont éliminées avec la corrélation sur plusieurs trames. Les fausses alarmes récurrentes sont supprimées par un filtre complémentaire en forme d'arbre.

Abstract

Far-infrared pedestrian detection approaches for advanced driver-assistance systems based on high-dimensional features fail to simultaneously achieve robust and real-time detection. We propose a robust and real-time pedestrian detection system characterized by novel candidate filters, novel pedestrian features and multi-frame approval matching in a coarse-to-fine fashion. Firstly, we design two filters based on the pedestrians’ head and the road to select the candidates after applying a pedestrian segmentation algorithm to reduce false alarms. Secondly, we propose a novel feature encapsulating both the relationship of oriented gradient distribution and the code of oriented gradient to deal with the enormous variance in pedestrians’ size and appearance. Thirdly, we introduce a multi-frame approval matching approach utilizing the spatiotemporal continuity of pedestrians to increase the detection rate. Large-scale experiments indicate that the system works in real time and the accuracy has improved about 9% compared with approaches based on high-dimensional features only. Document type: Article

Abstract

The lack of trustworthy sensors makes development of Advanced Driver Assistance System (ADAS) applications a tough task. It is necessary to develop intelligent systems by combining reliable sensors and real-time algorithms to send the proper, accurate messages to the drivers. In this article, an application to detect and predict the movement of pedestrians in order to prevent an imminent collision has been developed and tested under real conditions. The proposed application, first, accurately measures the position of obstacles using a two-sensor hybrid fusion approach: a stereo camera vision system and a laser scanner. Second, it correctly identifies pedestrians using intelligent algorithms based on polylines and pattern recognition related to leg positions (laser subsystem) and dense disparity maps and u-v disparity (vision subsystem). Third, it uses statistical validation gates and confidence regions to track the pedestrian within the detection zones of the sensors and predict their position in the upcoming frames. The intelligent sensor application has been experimentally tested with success while tracking pedestrians that cross and move in zigzag fashion in front of a vehicle. Document type: Article