Visual Ego-Vehicle Lane Assignment using Spatial Ray Features

Kuehnl T, Kummert F, Fritsch J (2013)
In: 2013 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV). IEEE Intelligent Vehicles Symposium. New York: Ieee: 1101-1106.

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Konferenzbeitrag | Veröffentlicht | Englisch
Abstract / Bemerkung
Assigning the ego-vehicle to a lane is not only beneficial for navigation but will be an essential element in future Advanced Driver Assistance Systems. This paper describes an approach for ego-lane index estimation using only a monocular camera and no additional sensing equipment like, e.g., the typically employed GPS and Inertial Measurement Unit. Key aspect of the approach are SPatial RAY (SPRAY) features which represent the spatial layout of the road in the visual scene. The proposed method perceives a variety of local visual properties of the scene by means of base classifiers operating on patches extracted from camera images. The spatial arrangement of these local visual properties are captured using SPRAY features. With a boosting classifier trained on these features the ego-lane index is obtained. The system is evaluated on low traffic density and complementary to an object-based approach suitable for heavy traffic. In the conducted experiments, the proposed approach reaches recognition rates of 93% to 97% on individual highway images without applying any kind of temporal filtering.
Erscheinungsjahr
Titel des Konferenzbandes
2013 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV)
Seite
1101-1106
Konferenz
IEEE Intelligent Vehicles Symposium
Konferenzort
Gold Coast, AUSTRALIA
Konferenzdatum
JUN 23-26, 2013
ISSN
PUB-ID

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Kuehnl T, Kummert F, Fritsch J. Visual Ego-Vehicle Lane Assignment using Spatial Ray Features. In: 2013 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV). IEEE Intelligent Vehicles Symposium. New York: Ieee; 2013: 1101-1106.
Kuehnl, T., Kummert, F., & Fritsch, J. (2013). Visual Ego-Vehicle Lane Assignment using Spatial Ray Features. 2013 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), 1101-1106
Kuehnl, T., Kummert, F., and Fritsch, J. (2013). “Visual Ego-Vehicle Lane Assignment using Spatial Ray Features” in 2013 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) IEEE Intelligent Vehicles Symposium (New York: Ieee), 1101-1106.
Kuehnl, T., Kummert, F., & Fritsch, J., 2013. Visual Ego-Vehicle Lane Assignment using Spatial Ray Features. In 2013 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV). IEEE Intelligent Vehicles Symposium. New York: Ieee, pp. 1101-1106.
T. Kuehnl, F. Kummert, and J. Fritsch, “Visual Ego-Vehicle Lane Assignment using Spatial Ray Features”, 2013 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV), IEEE Intelligent Vehicles Symposium, New York: Ieee, 2013, pp.1101-1106.
Kuehnl, T., Kummert, F., Fritsch, J.: Visual Ego-Vehicle Lane Assignment using Spatial Ray Features. 2013 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV). IEEE Intelligent Vehicles Symposium. p. 1101-1106. Ieee, New York (2013).
Kuehnl, Tobias, Kummert, Franz, and Fritsch, Jannik. “Visual Ego-Vehicle Lane Assignment using Spatial Ray Features”. 2013 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV). New York: Ieee, 2013. IEEE Intelligent Vehicles Symposium. 1101-1106.