Towards Detection and Tracking of On-Road Objects

Roland Goecke; Niklas Pettersson; Lars Petersson

doi:10.1109/IVS.2007.4290150

Towards Detection and Tracking of On-Road Objects

Roland Goecke, Niklas Pettersson, Lars Petersson

Science & Technology Office

Research output: A Conference proceeding or a Chapter in Book › Conference contribution › peer-review

3 Citations (Scopus)

7 Downloads (Pure)

Abstract

In this paper, we present a system capable of detecting and tracking on-road objects in the scene, in particular vehicles. Such a system is a useful part of a driver assistance system. This system employs two different techniques in the detection phase to increase the robustness. A large part of this paper is devoted to reducing the computational amount required of the overall algorithm by quickly excluding pixels above the horizon and on the road surface. The number of pixels that require further, computationally expensive processing is reduced by up to 65% in the sequences used in the experimental evaluation. Objects are detected in the remaining image areas by an improved boosting approach of weak classifiers based on the well-known AdaBoost and RealBoost approaches. The tracking is then done by a combination of periodically running the detection algorithm, while using adaptable templates at other times which allow for changes in shape and appearance as the car and the other vehicles travel along the road

Original language	English
Title of host publication	Proceedings of the 2007 IEEE Intelligent Vehicles Symposium IV
Editors	Urbano Nunes
Place of Publication	Australia
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	416-421
Number of pages	6
ISBN (Print)	9781424410675, 1424410673
DOIs	https://doi.org/10.1109/IVS.2007.4290150
Publication status	Published - 2007
Event	2007 IEEE Intelligent Vehicles Symposium IV - Istanbul, Istanbul, Turkey Duration: 13 Jun 2007 → 15 Jun 2007

Conference

Conference	2007 IEEE Intelligent Vehicles Symposium IV
Country/Territory	Turkey
City	Istanbul
Period	13/06/07 → 15/06/07

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10.1109/IVS.2007.4290150

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Cite this

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title = "Towards Detection and Tracking of On-Road Objects",

abstract = "In this paper, we present a system capable of detecting and tracking on-road objects in the scene, in particular vehicles. Such a system is a useful part of a driver assistance system. This system employs two different techniques in the detection phase to increase the robustness. A large part of this paper is devoted to reducing the computational amount required of the overall algorithm by quickly excluding pixels above the horizon and on the road surface. The number of pixels that require further, computationally expensive processing is reduced by up to 65% in the sequences used in the experimental evaluation. Objects are detected in the remaining image areas by an improved boosting approach of weak classifiers based on the well-known AdaBoost and RealBoost approaches. The tracking is then done by a combination of periodically running the detection algorithm, while using adaptable templates at other times which allow for changes in shape and appearance as the car and the other vehicles travel along the road",

author = "Roland Goecke and Niklas Pettersson and Lars Petersson",

year = "2007",

doi = "10.1109/IVS.2007.4290150",

language = "English",

isbn = "9781424410675",

pages = "416--421",

editor = "Urbano Nunes",

booktitle = "Proceedings of the 2007 IEEE Intelligent Vehicles Symposium IV",

publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2007 IEEE Intelligent Vehicles Symposium IV ; Conference date: 13-06-2007 Through 15-06-2007",

}

Goecke, R, Pettersson, N & Petersson, L 2007, Towards Detection and Tracking of On-Road Objects. in U Nunes (ed.), Proceedings of the 2007 IEEE Intelligent Vehicles Symposium IV. IEEE, Institute of Electrical and Electronics Engineers, Australia, pp. 416-421, 2007 IEEE Intelligent Vehicles Symposium IV, Istanbul, Turkey, 13/06/07. https://doi.org/10.1109/IVS.2007.4290150

Towards Detection and Tracking of On-Road Objects. / Goecke, Roland; Pettersson, Niklas; Petersson, Lars.

Proceedings of the 2007 IEEE Intelligent Vehicles Symposium IV. ed. / Urbano Nunes. Australia : IEEE, Institute of Electrical and Electronics Engineers, 2007. p. 416-421.

Research output: A Conference proceeding or a Chapter in Book › Conference contribution › peer-review

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AU - Petersson, Lars

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N2 - In this paper, we present a system capable of detecting and tracking on-road objects in the scene, in particular vehicles. Such a system is a useful part of a driver assistance system. This system employs two different techniques in the detection phase to increase the robustness. A large part of this paper is devoted to reducing the computational amount required of the overall algorithm by quickly excluding pixels above the horizon and on the road surface. The number of pixels that require further, computationally expensive processing is reduced by up to 65% in the sequences used in the experimental evaluation. Objects are detected in the remaining image areas by an improved boosting approach of weak classifiers based on the well-known AdaBoost and RealBoost approaches. The tracking is then done by a combination of periodically running the detection algorithm, while using adaptable templates at other times which allow for changes in shape and appearance as the car and the other vehicles travel along the road

AB - In this paper, we present a system capable of detecting and tracking on-road objects in the scene, in particular vehicles. Such a system is a useful part of a driver assistance system. This system employs two different techniques in the detection phase to increase the robustness. A large part of this paper is devoted to reducing the computational amount required of the overall algorithm by quickly excluding pixels above the horizon and on the road surface. The number of pixels that require further, computationally expensive processing is reduced by up to 65% in the sequences used in the experimental evaluation. Objects are detected in the remaining image areas by an improved boosting approach of weak classifiers based on the well-known AdaBoost and RealBoost approaches. The tracking is then done by a combination of periodically running the detection algorithm, while using adaptable templates at other times which allow for changes in shape and appearance as the car and the other vehicles travel along the road

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DO - 10.1109/IVS.2007.4290150

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SN - 1424410673

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BT - Proceedings of the 2007 IEEE Intelligent Vehicles Symposium IV

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CY - Australia

T2 - 2007 IEEE Intelligent Vehicles Symposium IV

Y2 - 13 June 2007 through 15 June 2007

ER -

Towards Detection and Tracking of On-Road Objects

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