131 37

Reliable Road Scene Interpretation Based on ITOM with the Integrated Fusion of Vehicle and Lane Tracker in Dense Traffic Situation

Title
Reliable Road Scene Interpretation Based on ITOM with the Integrated Fusion of Vehicle and Lane Tracker in Dense Traffic Situation
Author
박장현
Keywords
automated driving system (ADS); sensor fusion; multi-lane detection
Issue Date
2020-04
Publisher
MDPI
Citation
SENSORS, v. 20, no. 9, article no. 2457
Abstract
Lane detection and tracking in a complex road environment is one of the most important research areas in highly automated driving systems. Studies on lane detection cover a variety of difficulties, such as shadowy situations, dimmed lane painting, and obstacles that prohibit lane feature detection. There are several hard cases in which lane candidate features are not easily extracted from image frames captured by a driving vehicle. We have carefully selected typical scenarios in which the extraction of lane candidate features can be easily corrupted by road vehicles and road markers that lead to degradations in the understanding of road scenes, resulting in difficult decision making. We have introduced two main contributions to the interpretation of road scenes in dense traffic environments. First, to obtain robust road scene understanding, we have designed a novel framework combining a lane tracker method integrated with a camera and a radar forward vehicle tracker system, which is especially useful in dense traffic situations. We have introduced an image template occupancy matching method with the integrated vehicle tracker that makes it possible to avoid extracting irrelevant lane features caused by forward target vehicles and road markers. Second, we present a robust multi-lane detection by a tracking algorithm that incudes adjacent lanes as well as ego lanes. We verify a comprehensive experimental evaluation with a real dataset comprised of problematic road scenarios. Experimental result shows that the proposed method is very reliable for multi-lane detection at the presented difficult situations.
URI
https://www.mdpi.com/1424-8220/20/9/2457https://repository.hanyang.ac.kr/handle/20.500.11754/165705
ISSN
1424-8220
DOI
10.3390/s20092457
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
Files in This Item:
Reliable Road Scene Interpretation Based on ITOM with the Integrated Fusion of Vehicle and Lane Tracker in Dense Traffic Situation.pdfDownload
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE