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<p>Created page with &quot; == Abstract == International audience; Reliable obstacle detection and localization is a key issue for driver assistance systems, particularly in urban environments. In this...&quot;</p> <p><b>New page</b></p><div><br /> == Abstract ==<br /> <br /> International audience; Reliable obstacle detection and localization is a key issue for driver assistance systems, particularly in urban environments. In this study a multi-modal perception approach is investigated, the objective being to enhance vehicle localization and dynamic object tracking in a world-centric map. A 3D ego-localization is achieved by merging information from a stereo vision system and data obtained from vehicle sensors. Mobile objects are detected using a multi-layer lidar that is also used to identify a constrained search space within the multiple target tracking process. Object localization and tracking is then performed in the fixed frame, which facilitates analysis and understanding of the scene. Experimental results using real world data are performed to evaluate the performance of the multi-modal system, and these are presented to show the effectiveness of the approach.<br /> <br /> <br /> == Original document ==<br /> <br /> The different versions of the original document can be found in:<br /> <br /> * [https://hal.archives-ouvertes.fr/hal-00521901/file/IV2010_0176_FI.pdf https://hal.archives-ouvertes.fr/hal-00521901/file/IV2010_0176_FI.pdf]<br /> <br /> * [https://hal.archives-ouvertes.fr/hal-00777442/file/An_Embedded_Multi_modal_System_for_Object_Localization_and_Tracking.pdf https://hal.archives-ouvertes.fr/hal-00777442/file/An_Embedded_Multi_modal_System_for_Object_Localization_and_Tracking.pdf]<br /> <br /> * [http://xplorestaging.ieee.org/ielx5/5117645/6308609/06308619.pdf?arnumber=6308619 http://xplorestaging.ieee.org/ielx5/5117645/6308609/06308619.pdf?arnumber=6308619],<br /> : [http://dx.doi.org/10.1109/mits.2012.2217855 http://dx.doi.org/10.1109/mits.2012.2217855]<br /> <br /> * [http://xplorestaging.ieee.org/ielx5/5535007/5547951/05548017.pdf?arnumber=5548017 http://xplorestaging.ieee.org/ielx5/5535007/5547951/05548017.pdf?arnumber=5548017],<br /> : [http://dx.doi.org/10.1109/ivs.2010.5548017 http://dx.doi.org/10.1109/ivs.2010.5548017]<br /> <br /> * [http://yadda.icm.edu.pl/yadda/element/bwmeta1.element.ieee-000006308619 http://yadda.icm.edu.pl/yadda/element/bwmeta1.element.ieee-000006308619],<br /> : [https://hal.archives-ouvertes.fr/hal-00777442/document https://hal.archives-ouvertes.fr/hal-00777442/document],<br /> : [https://trid.trb.org/view.aspx?id=1222820 https://trid.trb.org/view.aspx?id=1222820],<br /> : [https://hal.archives-ouvertes.fr/hal-00777442 https://hal.archives-ouvertes.fr/hal-00777442],<br /> : [https://dblp.uni-trier.de/db/journals/itsm/itsm4.html#FlorezFBC12 https://dblp.uni-trier.de/db/journals/itsm/itsm4.html#FlorezFBC12],<br /> : [https://ieeexplore.ieee.org/document/6308619 https://ieeexplore.ieee.org/document/6308619],<br /> : [https://academic.microsoft.com/#/detail/2103952420 https://academic.microsoft.com/#/detail/2103952420]<br /> <br /> * [https://dblp.uni-trier.de/db/conf/ivs/ivs2010.html#FlorezFBC10 https://dblp.uni-trier.de/db/conf/ivs/ivs2010.html#FlorezFBC10],<br /> : [http://yadda.icm.edu.pl/yadda/element/bwmeta1.element.ieee-000005548017 http://yadda.icm.edu.pl/yadda/element/bwmeta1.element.ieee-000005548017],<br /> : [https://hal.archives-ouvertes.fr/hal-00521901 https://hal.archives-ouvertes.fr/hal-00521901],<br /> : [https://hal.archives-ouvertes.fr/hal-00521901/document https://hal.archives-ouvertes.fr/hal-00521901/document],<br /> : [https://academic.microsoft.com/#/detail/2039807475 https://academic.microsoft.com/#/detail/2039807475]<br /> <br /> * [https://hal.archives-ouvertes.fr/hal-00521901 https://hal.archives-ouvertes.fr/hal-00521901],<br /> : [https://hal.archives-ouvertes.fr/hal-00521901/document https://hal.archives-ouvertes.fr/hal-00521901/document],<br /> : [https://hal.archives-ouvertes.fr/hal-00521901/file/IV2010_0176_FI.pdf https://hal.archives-ouvertes.fr/hal-00521901/file/IV2010_0176_FI.pdf]<br /> <br /> * [https://hal.archives-ouvertes.fr/hal-00777442 https://hal.archives-ouvertes.fr/hal-00777442],<br /> : [https://hal.archives-ouvertes.fr/hal-00777442/document https://hal.archives-ouvertes.fr/hal-00777442/document],<br /> : [https://hal.archives-ouvertes.fr/hal-00777442/file/An_Embedded_Multi_modal_System_for_Object_Localization_and_Tracking.pdf https://hal.archives-ouvertes.fr/hal-00777442/file/An_Embedded_Multi_modal_System_for_Object_Localization_and_Tracking.pdf]<br /> <br /> <br /> <br /> DOIS: 10.1109/mits.2012.2217855 10.1109/ivs.2010.5548017</div>

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