Authors:
Anselm Haselhoff
1
;
Lars Hoehmann
1
;
Anton Kummert
1
;
Christian Nunn
2
;
Mirko Meuter
2
and
Stefan Müller-Schneiders
2
Affiliations:
1
University of Wuppertal, Germany
;
2
Delphi Electronics & Safety, Germany
Keyword(s):
Pedestrian detection, AdaBoost, Object detection, Track-To-Track fusion, Car2Car communication.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Applications and Services
;
Artificial Intelligence
;
Biomedical Engineering
;
Biomedical Signal Processing
;
Camera Networks and Vision
;
Computer Vision, Visualization and Computer Graphics
;
Data Manipulation
;
Feature Extraction
;
Features Extraction
;
Health Engineering and Technology Applications
;
Human-Computer Interaction
;
Image and Video Analysis
;
Image Registration
;
Informatics in Control, Automation and Robotics
;
Methodologies and Methods
;
Motion, Tracking and Stereo Vision
;
Neurocomputing
;
Neurotechnology, Electronics and Informatics
;
Pattern Recognition
;
Physiological Computing Systems
;
Real-Time Vision
;
Sensor Networks
;
Signal Processing, Sensors, Systems Modeling and Control
;
Soft Computing
;
Software Engineering
;
Tracking of People and Surveillance
;
Video Analysis
Abstract:
In this paper a system for fusion of pedestrian detections from multiple vehicles is presented. The application area is narrowed down to driver assistance systems, where single cameras are mounted in the moving vehicles. The main contribution of this paper is a comparison of three fusion algorithms based on real image data. The methods under review include Covariance Fusion, Covariance Intersection, and Covariance Union. An experimental setup is presented, with known ground truth positions of the detected objects. This information can be incorporated for the evaluation of the fusion methods. The system setup consists of two vehicles equipped with LANCOM® wireless access points, cameras, inertial
measurement units (IMU) and IMU enhanced GPS receivers. Each vehicle detects pedestrians by means of the camera and an AdaBoost detection algorithm. The results are tracked and transmitted to the other vehicle in appropriate coordinates. Afterwards each vehicle is responsible for reasonable t
reatment or fusion of the detection data.
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