Fusing navigation and vision information with the Transferable Belief Model: Application to an intelligent speed limit assistant

Abstract

The present paper focuses on the fusion, based on imprecise and uncertain information, between a Geographic Information System (GIS) and a Speed Limit Sign Recognition System (SLSRS), performed on camera images. This study is dedicated to the development of a Speed Limit Assistant (SLA) in the context of vehicle driving aid. The proposed SLA is developed within the Evidence Theory framework. The information from the sources is interpreted as belief functions using a non antagonistic bba in the Transferable Belief Model (TBM) semantics. This bba ensures that the conflict which could appear after the global fusion is exclusively due to source discordances. The present paper proposes a way to manage these discordances by formalizing a conflictrelated constraint decision rule. As far as the application is concerned, a two-level (decentralized) fusion architecture is developed. The sensor relevancy is estimated in a first step, followed by the GIS intra-sensor fusion with a maximum of Credibility decision which determines the context-compliant speed candidate considering the road information given by the digital map. This allows the detection of possible errors of the GIS. The multi-sensor fusion then combines the GIS and SLSRS information considering that the sensors are independent and specialized in one speed, each. For the decision, two strategies are adopted. The first one considers the conflict as a threshold for the final speed selection, and so allows the SLA to stay undecided in case of highly conflicting situations. The second strategy employs the 5 th version of the Proportional Conflict Redistribution operator. The SLA has been tested in simulation and in real-time experiments by qualitative and quantitative performance evaluations.

Multi-ROI Association and Tracking With Belief Functions: Application to Traffic Sign Recognition

“…In addition to all the existing operators [20], the conjunctive combination rule is the most straightforward [27]. For p sources to be combined, it is expressed as…”

“…Because of its informative aspect for decision making [20], the conflict is conserved, particularly for the detection of association ambiguities or contradictions. The formalization of (9) to the multiobject association problem can be found in [17].…”

“…cannot simultaneously be nonzero in order to avoid intrinsic conflict [13], [18], [20]. In this paper, the masses defined, respectively, on Θ i,.…”

“…One can particularly cite [14] and [15], in which a comparison with Bayesian tracking solutions is presented, and [16] and [20], highlighting the fact that belief functions constitute a suitable and intuitive framework for data and imperfection modeling. They easily deal with the source ignorance and conflict without any assumptions on the sensor error models.…”

Coupled detection, association and tracking for Traffic Sign Recognition

“…The combination gathers the different sources bbm m Θ i . Beside the numerous operators [23], the conjunctive combination rule is the most straightforward [22]:…”