Rotating radar sensors are perception systems rarely used in mobile robotics. This paper is concerned with the use of a ground-based panoramic sensor which able to deliver both distance and velocity multiple targets its surrounding. The consequence using such high speed robotics appearance geometric Doppler distortions collected data. These effects are, majority studies, ignored or considered as noise then corrected based on proprioceptive localization systems. Our purpose study data...

This work presents an implementation of a vision-based system for recognizing pedestrians in different environments and precisely localizing them with the use Kalman filter estimator configured as tracker. Pedestrians, various poses kinds clothing, are first recognized by vision subsystem through algorithms based on edge density symmetry maps. The information produced this way is then passed to tracker module which reconstructs interpretation positions scene. An appropriately indoor setup...

This paper presents a method designed to track and recover the three-dimensional (3-D) shape of road by computer vision. The is based first upon an accurate detection algorithm which provides reliable estimation roadside in image. works recursive updating statistical model lane obtained off-line training phase. Once sides have been located, reconstruction computes vehicle location on its lane, 3-D road, gives both their confidence interval for next then looks this order limit computational...

This work presents a vision-based system for detecting and localizing pedestrians in road environments by means of statistical technique. Initially, attentive vision techniques relying on the search specific characteristics such as vertical symmetry strong presence edges, allow to select interesting regions likely contain pedestrians. These are then used estimate localization using Kalman filter estimator.

This paper considers the problem of cooperative localization an heterogeneous group road vehicles. Each vehicle can be equipped with proprioceptive and exteroceptive sensors enabling it to localize itself in its environment also (but not identify) other members group. Localization information exchanged between vehicles through a wireless communication device. Every member maintains (if possible) estimation state transmits neighbors. The global is obtained by fusing states fusion based on...

Road traffic incidents analysis has shown that a third of them occurs without any conflict which indicates problems with road following. In this paper driving safety assistance system is introduced, whose aim to prevent the driver drifting off or running road. The following based on frontal on-board monocular camera. order get high degree reliability and robustness, an original combination three different algorithms performed. Low level results from first two are used compute indicator...

The localization of a vehicle in an unknown environment is often solved using simultaneous and mapping (SLAM) techniques. Many methods have been developed, each requiring different amount landmarks (map size), thus memory, to work efficiently. Similarly, the required computational time quite variable from one approach another. In this paper, we focus on monocular SLAM problem propose new method called MSLAM, which based extended Kalman filter (EKF). aim provide solution that has low memory...

This article presents a fast and robust method designed to detect track road lane from images provided by an on-board monocular monochromatic camera. The detection is based upon model driven algorithms. It uses statistical of the which permits manage occlusions or imperfections marking. obtained off-line training phase. detections are made in optimal interest zones deduced model. tracking process locate vehicle on its gives confidence interval roadside for next image. has been applied both...

This paper considers the problem of cooperative localization an heterogeneous group road vehicles. Each vehicle is equipped with proprioceptive and exteroceptive sensors enabling it to localize itself in its environment also identify other members group. Localization information can be exchanged between vehicles through a wireless communication device. Every member maintains estimation state transmits neighbors. The global obtained by fusing states fusion based on extended Kalman filter...

This paper is concerned with robotic applications using a ground-based radar sensor for simultaneous localization and mapping problems. In mobile robotics, technology interesting because of its long range the robustness waves to atmospheric conditions, making these sensors well-suited extended outdoor applications. Two approaches data obtained from 360° field view microwave are presented compared. The first method trajectory-oriented technique, which makes no landmark assumptions avoids...

Technology is rapidly changing and the automotive world constantly improving. One of challenges for industry to develop completely autonomous car. Even if proven feasible, driving car still an important research subject due systems complexity, costs legislation. The paper describes experimental that Renault actively developing in partnership with laboratories outlines its usage terms Autonomous Valet Parking (AVP). During development, a common Zoe vehicle was equipped sensors,...

Driving assistance is a popular research topic. Generally, two informations are necessary for good driving: "where am I?", dangerous obstacles on the road?". An approach which can precisely localize vehicle and road presented in this paper. Here, data fusion from proprioceptive exteroceptive sensors like odometer, GPS, LIDAR, vision as well knowledge of map allow localization. This system fully operational has been tested Clermont Ferrand city. Localization accuracy already reached,...

In today's world, automatic navigation for a robotic device (autonomous vehicle and robot) is pre-requisite many complex tasks, which requires robust localization method. We focus in this paper on the topic of localizing such robot into an absolute imprecise map. propose multi-sensor self-localization method, simultaneously able to operate with map, as well improve precision already existing one. The method uses split covariance intersection filter priori selection best informative...

Locating the vehicle in its road is a critical part of any autonomous system and has been subject to different research topics. In most works presented literature, ego-localization split into three parts: Road level-localization consisting on which travels, Lane level localization lane Ego being lateral position ego-lane. For each part, several researches have conducted. However, relationship between parts not taken consideration. Through this work, an end-to-end framework introduced with...

The use of a rotating range sensor in high speed robotics creates distortions the collected data. Such an effect is, majority studies, ignored or considered as noise and then corrected, based on proprioceptive sensors localization systems. In this study we consider that distortion contains information about vehicle's displacement. We propose to extract from without any other than exteroceptive only used for work is panoramic Frequency Modulated Continuous Wave (FMCW) radar called K2Pi. No...

Map initialization and scale ambiguity are well-known challenging problems for Visual SLAM. ORB-SLAM authors [1] [2] [3] [4] have published automatic excellent Bundle Adjustment. However, remains an open issue. Since depth sensors provide information, RGB-D SLAM improves this problem. estimation is provided only within limited areas the measurement error usually increases with distance. To avoid problem, in paper a triangulation used on RGB feature points getting 3D from out of area depth....

Multiple-object tracking constitutes a major step in several computer vision applications, such as surveillance, advanced driver assistance systems, and automatic traffic monitoring. Because of the number cameras used to cover large area, these applications are constrained by cost each node, power consumption, robustness tracking, processing time, ease deployment system. To meet challenges, use low-power low-cost embedded platforms achieve reliable becomes essential networks cameras. We...

Deals with a method designed to recover the 3D geometry of road from an image sequence provided by on-board monocular monochromatic camera. It only requires edges be detected in image. The reconstruction process is able compute (1) coordinates axis points, (2) vehicle's position on its lane and (3) prediction edge localization next images which very helpful for detection phase. also computes confidence intervals associated parameters. description followed presentation most significant results.

This paper is concerned with the simultaneous localization and mapping (SLAM) application using data obtained from a microwave radar sensor. The scanner based on frequency modulated continuous wave (FMCW) technology. In order to overcome complexity of image analysis, trajectory-oriented EKF-SLAM technique 360° field view sensor has been developed. process makes no landmark assumptions avoids association problem. method egomotion estimation use Fourier-Mellin transform for registering images...

This article presents a method for real-time control of vehicle trajectory on highway based an on-board vision system using single camera. The has been designed to avoid damage (e.g., due sleepy driver). is the extraction lateral location, which used determine trajectory. Furthermore, able correct possible bad road tracking in order have complete autonomy. whole im plemented TMS320C50 DSP-based card. Reliable results obtained over several hun dreds kilometers at low and high speeds reaching...

Today, the problem of designing suitable multiprocessor architecture tailored for a target application field raises need fast and efficient system-on-chip (MPSoC) design environment. Additionally, implementation image processing applications on MPSoC system will to exploit parallelism pipelining in algorithms with hope delivering significant reduction execution times. To take advantage parallelization homogeneous MPSoCs reduce programming effort, proposed methodology offers more...