From stixels to asteroids: Towards a collision warning system using stereo vision

Sanberg, Willem P.; Dubbelman, Gijs

doi:10.2352/issn.2470-1173.2019.15.avm-034

Cited by 3 publications

(3 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Stixels were used as an integral part of the pipeline for the Berthe Benz drive [8]. [9] develop a collision warning system using only stereo-based stixels and [10] used stixels to detect small unknown objects, such as lost cargo. The original idea was further extended in [11] to a multi-layer representation which used a probabilistic approach, i.e., stixels do not need to be connected to the ground plane anymore.…”

Section: Related Workmentioning

confidence: 99%

Fast and Compact Image Segmentation Using Instance Stixels

Hehn

Kooij

Gavrila

2022

IEEE Trans. Intell. Veh.

View full text Add to dashboard Cite

State-of-the-art stixel methods fuse dense stereo disparity and semantic class information, e.g., from a Convolutional Neural Network (CNN), into a compact representation of driveable space, obstacles and background. However, they do not explicitly differentiate instances within the same semantic class. We investigate several ways to augment single-frame stixels with instance information, which can be extracted by a CNN from the RGB image input. As a result, our novel Instance Stixels method efficiently computes stixels that account for boundaries of individual objects, and represents instances as grouped stixels that express connectivity. Experiments on the Cityscapes dataset demonstrate that including instance information into the stixel computation itself, rather than as a post-processing step, increases the segmentation performance (i.e., Intersection over Union and Average Precision). This holds especially for overlapping objects of the same class. Furthermore, we show the superiority of our approach in terms of segmentation performance and computational efficiency compared to combining the separate outputs of Semantic Stixels and a state-of-the-art pixel-level CNN. We achieve processing throughput of 28 frames per second on average for 8 pixel wide stixels on images from the Cityscapes dataset at 1792 × 784 pixels. Our Instance Stixels software is made freely available for non-commercial research purposes.

show abstract

Section: Related Workmentioning

confidence: 99%

Fast and Compact Image Segmentation Using Instance Stixels

Hehn

Kooij

Gavrila

2022

IEEE Trans. Intell. Veh.

View full text Add to dashboard Cite

show abstract

“…An earlier version of this system has been presented at a high level in [27]. This current work provides two main extensions.…”

Section: Related Workmentioning

confidence: 99%

ASTEROIDS: A Stixel Tracking Extrapolation-Based Relevant Obstacle Impact Detection System

Sanberg

Dubbelman

2021

IEEE Trans. Intell. Veh.

Self Cite

View full text Add to dashboard Cite

published version features the final layout of the paper including the volume, issue and page numbers. Link to publication General rightsCopyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.• Users may download and print one copy of any publication from the public portal for the purpose of private study or research. • You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal.If the publication is distributed under the terms of Article 25fa of the Dutch Copyright Act, indicated by the "Taverne" license above, please follow below link for the End User

show abstract

“…At present, FCWS using active sensors, such as laser [ 4 , 5 ], radar [ 6 ], vision sensor [ 7 , 8 , 9 ], and infrared [ 10 ], has been widely studied. Sanberg et al [ 11 ] presented a stereo vision-based CWS suited for real-time execution in a car. Hernandez et al designed an object warning collision system for high-conflict vehicle-pedestrian zones using a laser [ 12 ].…”

Section: Introductionmentioning

confidence: 99%

A Novel V2V Cooperative Collision Warning System Using UWB/DR for Intelligent Vehicles

Wang

Chen

Jin

et al. 2021

Sensors

View full text Add to dashboard Cite

The collision warning system (CWS) plays an essential role in vehicle active safety. However, traditional distance-measuring solutions, e.g., millimeter-wave radars, ultrasonic radars, and lidars, fail to reflect vehicles’ relative attitude and motion trends. In this paper, we proposed a vehicle-to-vehicle (V2V) cooperative collision warning system (CCWS) consisting of an ultra-wideband (UWB) relative positioning/directing module and a dead reckoning (DR) module with wheel-speed sensors. Each vehicle has four UWB modules on the body corners and two wheel-speed sensors on the rear wheels in the presented configuration. An over-constrained localization method is proposed to calculate the relative position and orientation with the UWB data more accurately. Vehicle velocities and yaw rates are measured by wheel-speed sensors. An extended Kalman filter (EKF) is applied based on the relative kinematic model to combine the UWB and DR data. Finally, the time to collision (TTC) is estimated based on the predicted vehicle collision position. Furthermore, through UWB signals, vehicles can simultaneously communicate with each other and share information, e.g., velocity, yaw rate, which brings the potential for enhanced real-time performance. Simulation and experimental results show that the proposed method significantly improves the positioning, directing, and velocity estimating accuracy, and the proposed system can efficiently provide collision warning.

show abstract

From stixels to asteroids: Towards a collision warning system using stereo vision

Cited by 3 publications

References 10 publications

Fast and Compact Image Segmentation Using Instance Stixels

Fast and Compact Image Segmentation Using Instance Stixels

ASTEROIDS: A Stixel Tracking Extrapolation-Based Relevant Obstacle Impact Detection System

A Novel V2V Cooperative Collision Warning System Using UWB/DR for Intelligent Vehicles

Contact Info

Product

Resources

About