Actas de congresos
Real-time Collision Risk Estimation Based On Pearson's Correlation Coefficient
Registro en:
9781467356466
2013 Ieee Workshop On Robot Vision, Worv 2013. , v. , n. , p. 40 - 45, 2013.
10.1109/WORV.2013.6521911
2-s2.0-84880265854
Autor
Miranda Neto A.
Victorino A.C.
Fantoni I.
Ferreira J.V.
Institución
Resumen
The perception of the environment is a major issue in autonomous robots. In our previous works, we have proposed a visual perception system based on an automatic image discarding method as a simple solution to improve the performance of a real-time navigation system. In this paper, we take place in the obstacle avoidance context for vehicles in dynamic and unknown environments, and we propose a new method for Collision Risk Estimation based on Pearson's Correlation Coefficient (PCC). Applying the PCC to real-time CRE has not been done yet, making the concept unique. This paper provides a novel way of calculating collision risk and applying it for object avoidance using the PCC. This real-time perception system has been evaluated from real data obtained by our intelligent vehicle. © 2013 IEEE.
40 45 ANR; French National Research Agency Thrun, S., Stanley, the robot that won the DARPA Grand Challenge (2006) Journal of Robotic Systems, 23 (9), pp. 661-692. , DARPA Grand Challenge (2007) Spirit of Berlin: An Autonomous Car for the DARPA Urban Challenge Hardware and Software Architecture, , http://www.darpa.mil/grandchallenge/TechPapers/Team_Berlin.pdf, Team Berlin retrieved 02 Dec. 2010 Gietelink, O., Ploeg, J., De Schutter, B., Verhaegen, M., Development of advanced driver assistance systems with vehicle hardware-in-The-loop simulations (2006) Vehicle System Dynamics, 44 (7), pp. 569-590 Ulrich, I., Nourbakhsh, I., Appearance-based obstacle detection with monocular color vision (2000) Proceedings of the AAAI National Conference on Artificial Intelligence, pp. 866-871. , July/August Bonin-Font, F., Ortiz, A., Oliver, G., Visual navigation for mobile robots: A survey (2008) Journal of Intelligent and Robotic Systems Kim, B., Hubbard, P., Necsulescu, D., Swarming unmanned aerial vehicles: Concept development and experimentation, a state of the art review on flight and mission control (2003) Technical Memorandum Dugarry, A., (2004) Advanced Driver Assistance Systems Information Management and Presentation, , PhD Thesis, Cranfield University School of Engineering Applied Mathematics and Computing Group Beauchemin, S., Barron, J.L., The computation of optical flow (1995) ACM Computing Surveys, 27, pp. 433-467 State of the art report and requirement specifications (2009) Hybrid Intelligent Virtual Actors, Integrating Research in Interactive Storytelling, , http://www.irisa.fr/, INRIA Report retrieved Feb. 03, 2011 Pearson, K., (1895) Royal Society Proceedings, 58, p. 241 Eugene, Y.K., Johnston, R.G., (1996) The Ineffectiveness of the Correlation Coefficient for Image Comparisons, , Technical Report LA-UR-96-2474, Los Alamos, 1996 Miranda Neto, A., Rittner, L., Leite, N., Zampieri, D.E., Victorino, A.C., Nondeterministic criteria to discard redundant information in real time autonomous navigation systems based on monocular vision (2008) ISIC Invited Paper, 2008 IEEE Multi-conference on Systems and Control Miranda Neto, A., Rittner, L., Leite, N., Zampieri, D.E., Lotufo, R., Mendeleck, A., Pearson's correlation coefficient for discarding redundant information in real time autonomous navigation systems (2007) Proceedings of the 2007 IEEE Multi-conference on Systems and Control Greco, C.R., (2008) Real-Time Forward Urban Environment Perception for An Autonomous Ground Vehicle Using Computer Vision and Lidar, , Master of Science (thesis), Brigham Young University Bertozzi, M., Broggi, A., Fascioli, A., Vision-based intelligent vehicles: State of the art and perspectives (2000) Robotics and Autonomous Systems, 32, pp. 1-16 Dahlkamp, H., Self-supervised monocular road detection in desert terrain (2006) Proceedings of the Robotics Science and Systems Conference Radio Spectrum Committee, European Commission, , http://ec.europa.eu/information_society/policy/ecomm/radio_spectrum /_document_storage/rsc/rsc32_public_docs/rscom10_35.pdf, Public Document, Brussels, 5 July 2010, RSCOM10-35 [retrieved Dec. 02, 2010] Gietelink, O.J., Ploeg, J., Schutter, B., Verhaegen, M., Development of a driver information and warningsystem with vehicle hardware-in-theloop simulations (2009) Mechatronics, 19, pp. 1091-1104 Müller, D., Pauli, J., Nunn, C., Görmer, S., Müller-Schneiders, S., Time to contact estimation using interest points (2009) IEEE Proceedings of the International Conference on Intelligent Transportation Systems (ITSC 2009), , St.Louis, USA Alenya, G., Negre, A., Crowley, J.L., A comparison of three methods for measure of time to contact (2009) IEEE Proceedings of the International Conference on Intelligent Transportation Systems (ITSC 2009), , St.Louis, USA Dagan, E., Mano, O., Stein, G.P., Shashua, A., Forward collision warning with a single camera (2004) Intelligent Vehicles Symposium, IEEE, pp. 37-42 Negre, A., Braillon, C., Crowley, J., Laugier, C., Real-time time-to-collision from variation of intrinsic scale (2006) INRIA Base, Proc. of the Int. Symp. on Experimental Robotics Horn, B.K.P., (1986) Robot Vision, , The MIT Press Wu, S., Decker, S., Chang, P., Camus, T., Eledath, J., Collision sensing by stereo vision and radar sensor fusion (2009) IEEE Transactions on Intelligent Transportation Systems, 10 (4) Beyeler, A., Zufferey, J.C., Floreano, D., Vision-based control of near-obstacle flight (2009) Autonomous Robots, 27 (3), pp. 201-219 Ruffier, F., Franceschini, N., Optic flow regulation: The key to aircraft automatic guidance (2005) Robotics Autonomous Systems, 50, pp. 177-194 Mesbah, M., Gradient-based optical flow: A critical review (1999) Proc. of the Fifth Int. Symp. on Signal Processing and Its Applications. ISSPA '99, 1, pp. 467-470. , 1999 Otsu, N., A threshold selection method from graylevel histogram (1978) IEEE Transactions on Systems, Man, and Cybernetics Rodgers, J.L., Nicewander, W.A., Thirteen ways to look at the correlation coefficient (1988) The American Statistician, 42, pp. 59-66 Yanqing, W., Deyun, C., Chaoxia, S., Peidong, W., Vision-based road detection by monte carlo method (2010) Information Technology Journal, 9, pp. 481-487 Sahoo, P.K., Soltani, S., Wong, A.K.C., A survey of thresholding techniques (1988) Comput. Vision Graphics Image Processing, 41, pp. 233-260 Lee, U.S., Chung, Y.S., Park, H.R., A comparative performance study of several global thresholding techniques for segmentation (1990) Computer Vision, Graphics, and Image Processing Sezgin, M., Sankur, B., Survey over image thresholding techniques and quantitative performance evaluation (2004) Journal of Electronic Imaging, 13, pp. 146-165 Gonzalez, C.R., Woods, E.R., (1991) Digital Image Processing, , Addison-Wesley Publishing Company Canny, J.F., A computational approach to edge detection (1986) IEEE Trans. Pattern Anal. Machine Intell., 8 (6), pp. 679-698 (2005) DARPA Grand Challenge Rulebook, , http://www.darpa.mil/grandchallenge05/, DARPA (2006) Stanford Racing Team's Entry in the 2005 DARPA Grand Challenge, , http://www.stanfordracing.org, June 10 http://youtu.be/J8YuZlJFExk