Absrroer-In this paper we present a system far threedimensional environment modeling. It consists of an instrumented vehicle equipped with B 2D laser range scanner for data mapping, and GPS, LYS and odometers for vehicle positioning and anitude information. The advantage of this system is its ahilie to perform data acquisition during the vehicle navigation; the sensor needed being a basic 2D scanner with opposition to traditional expensive 3D SEOSOTS. This system integrates the laser raw range data with the vehicle's internal state estimator and is capable of rceonstructing the 3D geometry of the environment by realtime geo-referencing.We propose a high level representation of the urban scene while identifying automstiesiiy and in real time some types of existing objects in this environment. Thus, our modeling is articulated around three principal axes, the segmentation; decimation; the 3D reconstruction and visualization. The road is the most important object lor us; some road features like the curvature and the width are extracted.
In France, about 33% of roads victims are VRU 1 . In its 3 rd framework, the french PREDIT 2 includes VRU Safety. The PUVAME project was created to generate solutions to avoid collisions between VRU and Bus in urban traffic. An important part of these collisions take place at intersection or bus stop. In this paper, we detail the hardware and software architecture designed and developped in the project. This solution is based on offboard cameras observing particular places (intersection and bus stop in our case) to detect and track VRU present in the environment. The position of the bus is also computed and a risk of collision between each VRU and the bus is determined. In case of high risk of collision, the bus driver is warned. The HMI to warn the bus driver is also described. Finally, some experimental results are presented.
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