Filter results

Results (214)

Sort by:

Select all Select all

Page 1

Matthias Schreiner - Bayesian Environment Representation, Prediction, and Criticality Assessment for Driver Assistance Systems

Partial access

Select

Matthias Schreiner

Bayesian Environment Representation, Prediction, and Criticality Assessment for Driver Assistance Systems

Series: Verkehrstechnik/Fahrzeugtechnik

Volume 797 2016

Results in this title

Environment Representations for ADAS S. 6-17

„… 6 2 Environment Representations for ADAS The present chapter first gives an overview of common …” „… metric environment representations and compares them with respect to their suitability for future ADAS …” „… . Such an environment model is an internal representation of the surroundings of a mobile robot, e.g. an …”

Introduction S. 1-5

„… , while environment representation-related algorithms have additionally been fully implemented and tested …” „… choice and development of an adequate environment model, i.e. a suitable representation of the driving …” „… is: 2. How can the environment representation be generated online in a robust, computationally …”

Summary and Outlook S. 207-211

„… criticality assessment. At the beginning of this thesis, different metric environment representations known …” „… , and is used within the generation process of the environment representation. The following two …” „… algorithmic optimizations, the complete metric environment representation including both maps is extracted in …”

Titelei/Inhaltsverzeichnis S. I-XXII

„… / Fahrzeugtechnik Reihe 12 Bayesian Environment Representation, Prediction, and Critical ity Assessment for Driver …” „… Bayesian Environment Representation, Prediction, and Criticality Assessment for Driver Assistance Systems …” „… . Dezember 2015 D17 Darmstadt 2015 Fortschritt-Berichte VDI Bayesian Environment Representation, Prediction …”

Parametric Free Space Maps S. 103-131

„… environment representation. 5.1 Introduction and Motivation The PFS map as the proposed representation for …” „… continuous, 2D bird’s-eye view representation of the local static environment around the ego vehicle, which …” „… – either due to the memory effect of the grid map environment representation or because sensors mapped …”

PRORETA 3: An Integrated Driver Assistance System S. 192-206

„… upon the same holistic environment representation, the same integrated trajectory planning, and the …” „… (HMI), Matthias Schreier (Environment Representation and Prediction), Felix Lotz (System Architecture …” „… the following, it is demonstrated how the metric environment representation is coupled with the …”

Publications and Supervisions S. 217-220

„… . Willert, and J. Adamy. Compact Representation of Dynamic Driving Environments for ADAS by Parametric Free …” „… Maps – A Highly Compact, Generic Environment Representation for ADAS. In Proc. of the IEEE Intelligent …” „… Trajectory Prediction and Criticality Assessment in Arbitrary Road Environments. IEEE Transactions on …”

Bibliography S. 221-254

„… , Gold Coast, Australia, June 2013. [145] J. Leal. Stochastic Environment Representation. PhD thesis …” „… Parametric Free Space Maps – A Highly Compact, Generic Environment Representation for ADAS. In Proc. of the …” „… Environments Using a Uniform Evidential Environment Representation. In Proc. of the IEEE International …”

Grid Mapping in Dynamic Environments S. 67-102

„… dense representations of the environment in a probabilistic way and found entrance into the intelligent …” „… four-dimensional grid representation of the environment – two dimensions for the Cartesian coordinates and two for …” „… 67 4 Grid Mapping in Dynamic Environments The present chapter is devoted to a novel method for grid …”

Prediction and Criticality Assessment S. 132-191

„… have seen how to estimate and represent the current state of the environment. This representation forms …” „… criticality assessment is presented, which builds upon the introduced environment representation of Section …” „… used, together with a PFS map-based representation of the static environment with pdf p(xPFS,k), to …”

Bayesian Inference for Nonlinear Filtering Tasks S. 18-66

„… environment representation: target tracking and occupancy grid mapping – both presented subsequently. 3.1 …” „… role in the generation of the proposed metric environment representation. 3.2 Target Tracking Target …” „… Gaussian representation afterwards. • Interacting Multiple Model (IMM) Filters [36] approximate the …”

doi.org/10.51202/9783186797124

Malte Oeljeklaus - An Integrated Approach for Traffic Scene Understanding from Monocular Cameras

Partial access

Select

Malte Oeljeklaus

An Integrated Approach for Traffic Scene Understanding from Monocular Cameras

Series: Verkehrstechnik/Fahrzeugtechnik

Volume 815 2021

Results in this title

Introduction S. 1-7

„… Figure 1.2: Illustration of three camera-based environment representations. Red: enclosing 3D bounding …” „… environment representations is still the subject of ongoing research. However, some representations can be …” „… outstandingly high relevance. The corresponding camera-based environment representations, which will also be …”

„… context of automotive environment representations on the other hand. 2.1 Advances in CNN architectures for …” „… environment model is understood as a knowledge base that describes a theoretical and model-like representation …” „… of scene representations from camera images for use in automotive environment models, the following …”

Summary, Conclusion, and Outlook S. 97-99

„… simultaneous perception of all environment representations with methods based on a multi-task CNN architecture …” „… with monocular cameras as a foundation for a basic environment model in the context of automated …” „… this purpose, three distinct scene representations are investigated. These consist of the prevalent …”

Titelei/Inhaltsverzeichnis S. I-XIV

„… Monocular Cameras Towards Resource-constrained Perception of Environment Representations with Multi-task …” „… developed that allows for the simultaneous perception of all environment representations based on a …” „… perception of all environment representations based on multi-task convolutional neural networks. For this …”

Multi-task Integration and Conclusive Experimental Analysis S. 84-96

„… prediction of multiple environment representations due to shared features. However, the hypothesis of a …” „… correctly. Figure 8.3: Visualization of the environment representations generated with the full multi-task …” „… environment representations generated with the full multi-task model in the InVerSiV road side unit setup. Due …”

Experimental Setup and Data Acquisition S. 20-27

„… above is used by contrast. The development of a reliable perception of the traffic environment sets …” „… , good-looking images. Instead, machine perception of the traffic environment requires an image that is as close …” „… environment perception and that the available image resolution can be fully utilized. Also, the achievable …”

Network Architecture for Multi-task Feature Sharing S. 28-37

„… the basic concept where the tasks are given as the various considered environment representations …” „… environment representations, this prerequisite is generally not met. Eventually, a differentiation can be made …” „… network’s part, which generates the intermediate representations serving as features for the output …”

Bibliography S. 115-142

„… . Schreier, V. Willert, and J. Adamy. “Compact Representation of Dynamic Driving Environments for ADAS by …” „… Representations. San Juan, Puerto Rico, 2016. [Cor+16] M. Cordts, M. Omran, S. Ramos, T. Rehfeld, M. Enzweiler, R …” „… International Conference on Learning Representations. Banff, Canada, 2014. [Goo+16] I. Goodfellow, Y. Bengio …”

Drivable Road Area from Semantic Image Segmentation S. 50-63

„… understood as a pixel-wise classification. Thus, this representation is capable of capturing the exact …” „… suitable for the representation of traffic elements that cannot be distinguished solely by their position …” „… form of a heatmap representation. This becomes apparent, when the connectivity patterns of the common …”

Road Users from Bounding Box Detection S. 64-83

„… means of bounding boxes. Generally, this type of representation is suitable for those traffic elements …” „… . This property is of particular importance in the context of automotive environment perception, since …” „… direct approach, no explicit intermediate representations are inherently enforced by the architecture …”

Global Road Topology from Scene Context Recognition S. 38-49

„… adjustments of subsequent driving strategies build on top of an environment perception. With regard to ADAS it …” „… important role in the task of environment perception itself. Firstly, this can be verified by an explicit …” „… environments was publicly available. However, since this type of traffic scene was already investigated for …”

doi.org/10.51202/9783186815125

Michael Aeberhard - Object-Level Fusion for Surround Environment Perception in Automated Driving Applications

Partial access

Select

Michael Aeberhard

Object-Level Fusion for Surround Environment Perception in Automated Driving Applications

Series: Verkehrstechnik/Fahrzeugtechnik

Volume 804 2017

Results in this title

Conclusion and Discussion S. 152-154

„… consistently combine different environment model representations [124, 227, 228, 259, 311]. Additionally, the …” „… representations in complex environments. Despite these advances at the sensor-level, the fusion of object data for …” „… 8 Conclusion and Discussion Environment perception has been and will remain one of the main …”

Titelei/Inhaltsverzeichnis S. I-XVI

„… Letters C Set of classification hypothesis D Generic representation for some data E Environment model G …” „… / Fahrzeugtechnik Reihe 12 Object-Level Fusion for Surround Environment Perception in Automated Driving …” „… Applications Object-Level Fusion for Surround Environment Perception in Automated Driving Applications …”

Introduction S. 1-26

„… environment model. In ADAS, typically three types of representations are important: host-vehicle localization …” „… total, four environment representations are to be estimated in an environment model, replacing E with X …” „… detail on how to estimate a consistent representation of objects in the environment from several sensor …”

References S. 172-202

„… Dynamic Environments using a Uniform Evidential Environment Representation,” in IEEE International …” „… : Artech House, 1993. 173 References [27] Bar-Shalom, Y. and Tse, E., “Tracking In a Cluttered Environment …” „… the Driving Environment With a Particle-Based Occupancy Grid,” IEEE Transactions on Intelligent …”

Existence Probability S. 93-115

„… environments, sensors generate a lot of false positives, such as from trees, bushes, guard rails and other …” „… representation of object quality, even though the methods for calculating the quality may differ between sensors …” „… environment perception, IPDA [183] and JIPDA [128, 129, 184, 186, 209, 212, 213] have been extensively used …”

State and Covariance S. 64-92

„… stereo camera [170] sensors. Some approaches use an intermediate environment representation before …” „… algorithms which are typically used in automotive environment perception applications at the sensor-level to …” „… be left to the cited works. Tracking at the sensor-level in an automotive environment is usually …”

Fusion Strategy and Object Association S. 46-63

„… coordinate system in a planar environment is translated relative to the vehicle coordinate system with δx and …” „… δy and rotated by θ, as shown with a rearward facing sensor in Figure 3.1. In non-planar environments …” „… with well synchronized sensors observing the same area of the environment. Many track-to-track fusion …”

Classification S. 116-132

„… object model introduced in Section 2.2.1 defines a classification vector c. In vehicle environment …” „… model. For more complex stationary objects, a grid-based representation is better suited for detection …” „… urban environment with dense 3D laser scanner data can also be performed [281]. For camera-based systems …”

doi.org/10.51202/9783186804129

Sascha Steyer - Grid-Based Object Tracking

Partial access

Select

Sascha Steyer

Grid-Based Object Tracking

Series: Mess-, Steuerungs- und Regelungstechnik

Volume 1272 2021

Results in this title

Introduction S. 1-12

„… . The basis of this approach forms a generic low-level occupancy grid representation of the environment …” „… environment are performed as separate tasks, where measurement data either belong to the object representation …” „… versatile in various environments due to the uniform dynamic grid representation and the movement-based …”

Conclusion S. 165-168

„… objects, while the static environment is retained in the grid representation without abstracting object …” „… 7 Conclusion Modeling and estimating the current local environment remain major challenges of …” „… the generally high scenario complexity of unstructured dynamic environments. Therefore, an accurate …”

Titelei/Inhaltsverzeichnis S. I-XII

„… Representation . . . . . . . . . . . . . . . 44 3.2.1 Evidential Frame of Discernment for Dynamic Environments …” „… and obstacles are reliably contained in the resulting environment representation. In this work …” „… – Umgebungswahrnehmung – Zustandsschätzung Keywords: Autonomous Vehicles – Data Association – Environment Perception …”

Measurement Grid Representation and Fusion S. 13-38

„… sensor-specific measurements in a uniform low-level representation by discretizing the local environment into grid …” „… environment. This occupancy grid representation enables a direct sensor fusion and temporal accumulation with …” „… the evidential occupancy representation. 2.2.1 Spatial Grid Structure The environment is spatially …”

Dynamic Grid Mapping and Particle Tracking S. 39-78

„… , allowing full persistence of the static environment in a grid map representation without keeping all …” „… filtering of both representations. 3.2.1 Evidential Frame of Discernment for Dynamic Environments The …” „… with the low-level particle representation enables a robust estimation of dynamic environments. The …”

Evaluation S. 127-164

„… be considered, as the static environment remains in the grid map representation. The association of …” „… occupancy grid representation is briefly discussed, as it forms the core of the proposed environment …” „… occupancy grid using the evidential Dempster–Shafer representation with the two hypotheses of occupancy and …”

Object Extraction and Association S. 79-100

„… environments including a differentiation of static and dynamic occupancy. The applied particlebased estimation …” „… thereby also enables a robust low-level tracking of the dynamic state of the occupied environment …” „… generic high-level representation of object instances, which is crucial for any kind of scene …”

Bibliography S. 170-186

„… and tracking in dynamic environments using a uniform evidential environment representation. In Proc …” „… . Intell., 16(6):641–647, 1994. [7] M. Aeberhard. Object-Level Fusion for Surround Environment Perception …” „… . Track-to-Track Fusion With Asynchronous Sensors Using Information Matrix Fusion for Surround Environment …”

doi.org/10.51202/9783186272089

Georg Tanzmeister - Grid-based Environment Estimation for Local Autonomous Vehicle Navigation

Partial access

Select

Georg Tanzmeister

Grid-based Environment Estimation for Local Autonomous Vehicle Navigation

Series: Mess-, Steuerungs- und Regelungstechnik

Volume 1246 2016

Results in this title

Conclusion S. 123-126

„… and Mapping A robust, real-time representation of the local static and dynamic environment is an …” „… and the dynamic environment in a grid representation, has been presented. Particle filters are used to …” „… environment, as standard object tracking algorithms use shape and model assumptions. The grid representation …”

Introduction S. 1-9

„… representation and the understanding of the environment around the vehicle based on real-time sensor data with …” „… specific characteristics of the objects in the environment need to be made. The grid representation is …” „… inconsistencies due to different environment representations and does not require that measurements must be …”

Grid-based Tracking and Mapping S. 10-39

„… 2 Grid-based Tracking and Mapping A robust representation of the environment is essential for any …” „… environment representations, which is likely to lead to inconsistencies. Often grids represent the static …” „… static and the dynamic environment in a uniform representation termed Grid-based Tracking and Mapping …”

Road Course and Road Boundary Estimation S. 87-101

„… more complex, ambiguous, and unstructured environments, such as urban areas or road construction sites …” „… Road Course and Road Boundary Estimation uous boundaries. Real street environments, however, often …” „… a more general and wider spectrum. A sensor-independent world representation, as mentioned on …”

Own Publications S. 136

„… dynamic environments using a uniform evidential environment representation,” in Proc. of the IEEE …” „… . Lawitzky, D. Wollherr, and M. Buss, “Road course estimation in unknown, structured environments,” in Proc …” „… . Buss, “Environment-based trajectory clustering to extract principal directions for autonomous vehicles …”

Bibliography S. 137-154

„… fusion with asynchronous sensors using information matrix fusion for surround environment perception …” „… navigation in uncertain and dynamic environments,” Autonomous Robots, vol. 32, no. 3, pp. 285–302, Apr. 2012 …” „… representation of the 3d-world,” in Proc. of the German Association for Pattern Recognition (DAGM), 2009. [18] M …”

Titelei/Inhaltsverzeichnis S. I-XIV

„… Regelungstechnik Reihe 8 Grid-based Environment Estimation for Local Autonomous Vehicle Navigation Lehrstuhl …” „… Martin Buss Grid-based Environment Estimation for Local Autonomous Vehicle Navigation Georg Tanzmeister …” „… Elektrotechnik und Informationstechnik am 21.12.2015 angenommen. Fortschritt-Berichte VDI Grid-based Environment …”

Configuration Space Costs: Cost Evaluation on Workspace Cost Maps S. 64-86

„… grid-based environment representations, the computational burden is huge. Compared to polygonal models, no …” „… compact representation of the objects in the local environment of the robot exists. Since computing a good …” „… particular way of collision checking and cost evaluation is dependent on the environment representation …”

Evaluation S. 102-122

„… in Section 2.3.4. Therefore, the resulting uniform Dempster–Shafer environment representation and …” „… from the road course estimation in dynamic environments with the static Bayesian map from GTAM are …” „… ], a uniform distribution is combined with a Dirac distribution at (0, 0) to allow the representation …”

Detection of Principal Moving Directions S. 40-63

„… environment yield the main possible maneuvers of the robot. They represent the road topology as well as a …” „… represent the environment and are the world model of choice in this work. Therefore, it is focused on …” „… ] are able to quickly re-plan in changing environments and any-time planners like Anytime Repairing A …”

doi.org/10.51202/9783186246080

1

2 3 ... 43