Scipediacontent: Scipediacontent moved page Draft Content 430132907 to Perrollaz et al 2014a

2021-01-21T14:29:13Z

Scipediacontent moved page Draft Content 430132907 to Perrollaz et al 2014a

Scipediacontent: Created page with " == Abstract == International audience; In the recent years, more and more modern cars have been equipped with perception capabilities. One of the key applications of such pe..."

2021-01-21T14:29:09Z

Created page with " == Abstract == International audience; In the recent years, more and more modern cars have been equipped with perception capabilities. One of the key applications of such pe..."

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== Abstract ==

International audience; In the recent years, more and more modern cars have been equipped with perception capabilities. One of the key applications of such perception systems is the estimation of a risk of collision. This is necessary for both Advanced Driver Assistance Systems and Autonomous Navigation. Most approach for risk estimation propose to detect and track the dynamic objects in the scene. Then the risk is estimated as a Time To Collision (TTC) by projecting the object's trajectory in the future. In this paper, we propose a new grid-based approach for collision risk prediction, based on the Hybrid-Sampling Bayesian Occupancy Filter framework. The idea is to compute an estimation of the TTC for each cell of the grid, instead of reasoning on objects. This strategy avoids to solve the difficult problem of multi-objects detection and tracking and provides a probabilistic estimation of the risk associated to each TTC value. After promising initial results, we propose in this paper to evaluate the relevance of the method for real on-road applications, by using a real-time implementation of our method in an experimental vehicle.

== Original document ==

The different versions of the original document can be found in:

* [http://dx.doi.org/10.13140/2.1.3953.4724 http://dx.doi.org/10.13140/2.1.3953.4724]

* [http://hal.univ-grenoble-alpes.fr/docs/01/01/18/08/PDF/ISER2014.pdf http://hal.univ-grenoble-alpes.fr/docs/01/01/18/08/PDF/ISER2014.pdf]

* [http://link.springer.com/content/pdf/10.1007/978-3-319-23778-7_54 http://link.springer.com/content/pdf/10.1007/978-3-319-23778-7_54],
: [http://dx.doi.org/10.1007/978-3-319-23778-7_54 http://dx.doi.org/10.1007/978-3-319-23778-7_54] under the license http://www.springer.com/tdm

* [https://hal.inria.fr/hal-01011808 https://hal.inria.fr/hal-01011808],
: [https://hal.inria.fr/hal-01011808/document https://hal.inria.fr/hal-01011808/document],
: [https://hal.inria.fr/hal-01011808/file/ISER2014.pdf https://hal.inria.fr/hal-01011808/file/ISER2014.pdf]

* [https://hal.inria.fr/hal-01011808/document https://hal.inria.fr/hal-01011808/document],
: [https://link.springer.com/chapter/10.1007/978-3-319-23778-7_54 https://link.springer.com/chapter/10.1007/978-3-319-23778-7_54],
: [https://hal.inria.fr/hal-01011808 https://hal.inria.fr/hal-01011808],
: [https://dblp.uni-trier.de/db/conf/iser/iser2014.html#RummelhardNPL14 https://dblp.uni-trier.de/db/conf/iser/iser2014.html#RummelhardNPL14],
: [https://core.ac.uk/display/102571466 https://core.ac.uk/display/102571466],
: [https://academic.microsoft.com/#/detail/2203271201 https://academic.microsoft.com/#/detail/2203271201]

DOIS: 10.13140/2.1.3953.4724 10.1007/978-3-319-23778-7_54

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Perrollaz et al 2014a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 430132907 to Perrollaz et al 2014a

Scipediacontent: Created page with " == Abstract == International audience; In the recent years, more and more modern cars have been equipped with perception capabilities. One of the key applications of such pe..."