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Authors: Christian Winkens and Dietrich Paulus

Affiliation: University of Koblenz-Landau, Germany

Keyword(s): Off-road Platooning, Optical Tracking, Kalman filter, Autonomous Vehicles.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Biomedical Engineering ; Biomedical Signal Processing ; Data Manipulation ; Health Engineering and Technology Applications ; Human-Computer Interaction ; Methodologies and Methods ; Neurocomputing ; Neurotechnology, Electronics and Informatics ; Pattern Recognition ; Physiological Computing Systems ; Sensor Networks ; Soft Computing ; Vision and Perception

Abstract: Platooning applications require precise knowledge about position and orientation (pose) of the leading vehicle especially in rough terrain. We present an optical solution for a robust pose estimation using artificial markers and a camera as the only sensor. Temporal coherence of image sequences is used in a Kalman filter to obtain precise estimates. Furthermore based on the marker detections we utilize an adaptive model building algorithm which learns a keypoint based representation of the leading vehicle at runtime. The model is continuously updated and allows a markerless tracking of the vehicle for up to 70meters even when driving at high velocities. The system is designed for and tested in off-road scenarios. A pose evaluation is performed in a simulation testbed.

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Paper citation in several formats:
Winkens, C. and Paulus, D. (2017). Long Range Optical Truck Tracking. In Proceedings of the 9th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-758-220-2; ISSN 2184-433X, SciTePress, pages 330-339. DOI: 10.5220/0006296003300339

@conference{icaart17,
author={Christian Winkens. and Dietrich Paulus.},
title={Long Range Optical Truck Tracking},
booktitle={Proceedings of the 9th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
year={2017},
pages={330-339},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006296003300339},
isbn={978-989-758-220-2},
issn={2184-433X},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART
TI - Long Range Optical Truck Tracking
SN - 978-989-758-220-2
IS - 2184-433X
AU - Winkens, C.
AU - Paulus, D.
PY - 2017
SP - 330
EP - 339
DO - 10.5220/0006296003300339
PB - SciTePress

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