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Robust video/ultrasonic fusion-based estimation for automotive applications

Pathirana, Pubudu, Lim, A., Savkin, Andrey and Hodgson, Peter 2007, Robust video/ultrasonic fusion-based estimation for automotive applications, IEEE transactions on vehicular technology, vol. 56, no. 4, pp. 1631-1639.

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Title Robust video/ultrasonic fusion-based estimation for automotive applications
Author(s) Pathirana, Pubudu
Lim, A.
Savkin, Andrey
Hodgson, Peter
Journal name IEEE transactions on vehicular technology
Volume number 56
Issue number 4
Start page 1631
End page 1639
Publisher Institute of Electrical and Electronics Engineers (IEEE)
Place of publication Piscataway, N.J.
Publication date 2007-07
ISSN 0018-9545
Keyword(s) collision avoidance
optical flow
robust extended
Kalman filter
Summary In this paper, we use recently developed robust estimation ideas to improve object tracking by a stationary or nonstationary camera. Large uncertainties are always present in vision-based systems, particularly, in relation to the estimation of the initial state as well as the measurement of object motion. The robustness of these systems can be significantly improved by employing a robust extended Kalman filter (REKF). The system performance can also be enhanced by increasing the spatial diversity in measurements via employing additional cameras for video capture. We compare the performances of various image segmentation techniques in moving-object localization and show that normal-flow-based segmentation yields comparable results to, but requires significantly less time than, optical-flow-based segmentation. We also demonstrate with simulations that dynamic system modeling coupled with the application of an REKF significantly improves the estimation system performance, particularly, when subjected to large uncertainties.
Notes ©2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Language eng
Field of Research 090299 Automotive Engineering not elsewhere classified
HERDC Research category C1 Refereed article in a scholarly journal
Copyright notice ©2007, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30007194

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