TY - GEN
T1 - Bionic vision inspired on-road obstacle detection and tracking using radar and visual information
AU - Wang, Xiao
AU - Xu, Linhai
AU - Sun, Hongbin
AU - Xin, Jingmin
AU - Zheng, Nanning
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/11/14
Y1 - 2014/11/14
N2 - Inspired by the cooperation between the cone cell and the rod cell in human vision system, this paper presents a novel method for fusing millimeter wave (MMW) radar and monocular vision sensor information for on-road obstacle detection. The MMW radar performs similarly as the cone cell to indicate potential target region in the view, while the camera plays the same role as that of the rod cell to obtain precise target contour and to allow tracking over frames. Using real-world data collected from on-road vehicles, experimental evaluations have shown that, our proposed system could detect on-road obstacles with high detection rate and low false-alarm rate, yet the overall image processing time is significantly reduced compared to conventional approaches. In addition, the system has been applied on our unmanned vehicle for the past two years' 'Future Challenge' autonomous vehicles competition.
AB - Inspired by the cooperation between the cone cell and the rod cell in human vision system, this paper presents a novel method for fusing millimeter wave (MMW) radar and monocular vision sensor information for on-road obstacle detection. The MMW radar performs similarly as the cone cell to indicate potential target region in the view, while the camera plays the same role as that of the rod cell to obtain precise target contour and to allow tracking over frames. Using real-world data collected from on-road vehicles, experimental evaluations have shown that, our proposed system could detect on-road obstacles with high detection rate and low false-alarm rate, yet the overall image processing time is significantly reduced compared to conventional approaches. In addition, the system has been applied on our unmanned vehicle for the past two years' 'Future Challenge' autonomous vehicles competition.
UR - https://www.scopus.com/pages/publications/84937124942
U2 - 10.1109/ITSC.2014.6957663
DO - 10.1109/ITSC.2014.6957663
M3 - 会议稿件
AN - SCOPUS:84937124942
T3 - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
SP - 39
EP - 44
BT - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 17th IEEE International Conference on Intelligent Transportation Systems, ITSC 2014
Y2 - 8 October 2014 through 11 October 2014
ER -