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Sascha Steyer - Grid-Based Object Tracking

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Sascha Steyer

Grid-Based Object Tracking

Reihe: Mess-, Steuerungs- und Regelungstechnik

Band 1272 2021

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Introduction S. 1-12

„… , in particular the detection and tracking of moving objects in the context of automated driving. This …” „… assumption that an object causes only a single measurement detection is reasonable if that object can be …” „… extraction represents the actual object detection task. There are various object detection approaches, which …”

Bibliography S. 170-186

„… . Asvadi, P. Peixoto, and U. Nunes. Detection and Tracking of Moving Objects Using 2.5D Motion Grids. In …” „… . Chavez-Garcia and O. Aycard. Multiple Sensor Fusion and Classification for Moving Object Detection and Tracking …” „… Object Detection Using Deep Neural Networks. In Proc. IEEE Conf. Comput. Vision and Pattern Recognition …”

Conclusion S. 165-168

„… movement-based object detection, the proposed approach has been further extended to also incorporate additional …” „… mobile robots, as also the requirements on the accuracy, the robustness, and the detection range are …” „… environment model is required that properly represents moving objects, static obstacles, and passable …”

Object Extraction and Association S. 79-100

„… Introduction Object detection is an essential task with the aim of abstracting measurement data toward a more …” „… object detection or abstraction. In this work, measurement data of lidar, radar, and camera are modeled …” „… approaches [48, 95, 117, 143] use deep learning concepts for the object detection based on dynamic occupancy …”

Evaluation S. 127-164

„… object instances. The measurement detections of each individual sensor are represented as a measurement …” „… ) Camera images. 146 6.3 Object Detection and Tracking (a) (b) (c) (d) (e) Fig. 6.12: Influence of the …” „… are required. 6.3 Object Detection and Tracking Based on the presented dynamic grid estimation, this …”

Measurement Grid Representation and Fusion S. 13-38

„… grid mapping and thus also for the detection and the pose and shape estimation of moving objects of …” „… occupancy grid. (e) Radar velocity grid (blue lines). (f) Camera detections and objects. (g) Camera …” „… classification grid of static detections (red cells). (h) Camera classification grid of objects with additional …”

Titelei/Inhaltsverzeichnis S. I-XII

„… – Moving Object Detection – Object State Estimation – Object Tracking – Occupancy Grid Mapping – Sensor …” „… Association Strategies . . . . . . . . . . . 83 4.2.1 Object Detection Based on Dynamic Occupancy …” „… Additional Information . . . . . . . . 139 6.3 Object Detection and Tracking …”

Object State Estimation S. 101-126

„… Radar-Based Dynamic Estimation radar Doppler detections {vrz,i} predicted dynamic object state ŝτ,t = [ x̂xt …” „… 5 Object State Estimation The previous chapters have presented how measurement data are processed …” „… the individual grid cells, but also the object extraction and association that both result in a set of …”

Dynamic Grid Mapping and Particle Tracking S. 39-78

„… , detections of moving objects with large Doppler velocities are robustly classified as dynamic, whereas a …” „… particlebased movement detection in the event of the object continuing to move, and a robust differentiation …” „… discretized cell structure of occupancy grids enable a low-level sensor data fusion, without specific object …”

doi.org/10.51202/9783186272089

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

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Michael Aeberhard

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

Reihe: Verkehrstechnik/Fahrzeugtechnik

Band 804 2017

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Evaluation S. 133-151

„… view of ± 55◦ and maximum range between 150m- 200m offers object detection with a large field-of-view …” „… . In addition to object detection, the four-layer laser scanner can also be used for lane marking and …” „… ◦ and a maximum range of 250m is used for reliable object detection, even under partial occlusions and …”

Existence Probability S. 93-115

„… if it is a false detection is a measure of the quality of the detected object. In this chapter, the …” „… and relevance of the detected object. Using the existence probability, sporadic detections, such as …” „… by the vehicle’s pitch and detected object’s z coordinate, which reduces the detection probability …”

Conclusion and Discussion S. 152-154

„… architecture with a high-level, or object-level, approach for model-based object detection. The goal was to …” „… to the problem of object detection and fusion using multiple sensors for ADAS and automated driving …” „… the stixel representation for object detection [93, 235], where a confidence representation [122, 236 …”

Titelei/Inhaltsverzeichnis S. I-XVI

„… - Track Fusion – Tracking – Object Detection Driver assistance systems have increasingly relied on more …” „… thesis has been extensively used in several research projects as the dynamic object detection platform …” „… Driving . . . . . . . . . 15 1.3 Problem of Object Detection …”

Introduction S. 1-26

„… perception algorithms for object detection presented in this thesis were successfully integrated into the …” „… object detection, the Stanford entry in the DARPA Urban Challenge relied primarily on a 360◦ multi-beam …” „… , on which object detection and tracking was accomplished. This sensor has become a popular sensor …”

Sensor Data Fusion Architectures S. 27-45

„… novel sensor data fusion architecture for model-based object detection is proposed, designed to be …” „… ] for lidar and radar fusion for frontal object detection. In order to quantify the performance of …” „… suggest an object interface which is complete in terms of describing an object’s state, detection quality …”

References S. 172-202

„… Fusion for Object Detection Using Generalized Feature Models,” in 6th International Conference of …” „… Arbitrary Objects With Bottom-Up/Top-Down Detection,” in IEEE Intelligent Vehicles Symposium, Alcalá de …” „… , P. and Jones, M., “Robust Real-time Object Detection,” in International Journal of Computer Vision …”

Evaluation Scenario Descriptions S. 167-171

„… surround object detection algorithms presented in this thesis. The ground truth consists of highly accurate …” „… , focusing on the collection of motorcycle object data. Another scenario, recorded in real highway traffic …” „… was used to collect data on typical highway traffic objects. In total, 15,920 cycles of data was …”

State and Covariance S. 64-92

„… object detection at the sensor-level. The extracted features are used as the input to the tracking and …” „… applications have focused on the detection and tracking of objects in the frontal area of the vehicle using …” „… approaches complicates object detection for sensors and, therefore, many different approaches to solve this …”

Classification S. 116-132

„… existence probability represented a quality measure for the detection of a relevant object for a driver …” „… model. For more complex stationary objects, a grid-based representation is better suited for detection …” „… object model introduced in Section 2.2.1 defines a classification vector c. In vehicle environment …”

Synchronous Track-to-Track Fusion Algorithms S. 155-161

„… [101] and the fusion of radar and laser scanner object detection for collision mitigation [99]. A.4 …” „… . Linzmeier uses this algorithm to fuse data from an infrared and a radar sensor for pedestrian detection [172 …” „… obstacle detection. It has also been used to fuse data in vehicle-tovehicle communications applications …”

Fusion Strategy and Object Association S. 46-63

„… common global coordinate system for local object detection, with positive x defined in the forward …” „… 3 Fusion Strategy and Object Association As shown in the previous chapter, in the proposed …” „… high-level sensor data fusion architecture, each sensor produces an object list of the detected objects …”

doi.org/10.51202/9783186804129

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

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Malte Oeljeklaus

An Integrated Approach for Traffic Scene Understanding from Monocular Cameras

Reihe: Verkehrstechnik/Fahrzeugtechnik

Band 815 2021

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Road Users from Bounding Box Detection S. 64-83

„… 7 Road Users from Bounding Box Detection Object detection aims to locate objects in an image by …” „… object detection can be used for example to detect other vehicles. For this, a challenge arises from the …” „… point of view, which is defined by the observation angle and the distance. To realize object detection …”

Bibliography S. 115-142

„… . [Bar+20] I. Barabanau, A. Artemov, E. Burnaev, and V. Murashkin. “Monocular 3D Object Detection via …” „… . “Monocular 3D Object Detection for Autonomous Driving”. In: Proceedings of the 29th Conference on Computer …” „… Depth-Guided Convolutions for Monocular 3D Object Detection”. In: Proceedings of the Computer Vision and …”

„… +13]. Bounding box detection for object-based environment modeling Object-based environment modeling …” „… . An object representation from camera images is obtained using bounding box detection methods; however …” „… box detection. Another method is to apply point cloud object detection methods after first generating …”

Introduction S. 1-7

„… out. Chapter 7: For the perception of road users within a given traffic scene, an object detection is …” „… approach to extend the 2D object detection decoder with auxiliary regressands for the purpose of …” „… reconstruction of object detections is carried out. Here, special attention is paid to the particular …”

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

„… For the analysis of the detection of traffic objects with multi-task models the procedure according to …” „… corresponding validation data of the KITTI object dataset [Gei+12]. The results for 2D vehicle detection for all …” „… 8.5: 2D vehicle detection performance measures on the KITTI object validation dataset for all task …”

Summary, Conclusion, and Outlook S. 97-99

„… associated with the static environment. Furthermore, the detection and spatial reconstruction of vehicles …” „… perception of other road users is designed based on the compact SSD method for 2D detections according to …” „… estimation of the orientation and dimension ratio of detected objects. Together with a subsequent method for …”

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

„… the detection of vehicles as an object class. In that case, it is useful to discover class-specific …” „… considering multi-sensor object detection [Lia+19]. However, in the case of the perception of complementary …” „… , this hierarchy can also be explained by intuition. For instance, in pictures of a certain object, it is …”

Titelei/Inhaltsverzeichnis S. I-XIV

„… for spatial reconstruction 69 7.3 Object detection and reconstruction experiments …” „… drivable road area and the detection and spatial reconstruction of other road users. An approach is …” „… segmentation . . . . . . . . . . . . . 58 7 Road Users from Bounding Box Detection 64 7.1 Classification and …”

Experimental Setup and Data Acquisition S. 20-27

„… detection range resulting from the aperture angles of the lenses must be taken into account. For the …” „… perception of the traffic scene, the road side units provide a means of extending the detection range of a …” „… understood using an example object positioned at the 3D scene point nC, as shown in Figure 3.4. The depicted …”

doi.org/10.51202/9783186815125

VDI Wissensforum GmbH - Fahrerassistenz und Integrierte Sicherheit 2016

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VDI Wissensforum GmbH (Hrsg.)

Fahrerassistenz und Integrierte Sicherheit 2016

Reihe: VDI-Berichte

Band 2288 2016

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S. Gehrig, S. Ramos, P. Pinggera, U. Franke Detecting Small Road Hazards – A Must for Self-Driving Vehicles S. 425-438

„… evaluations on object level regarding obstacle sizes and detection distance. VDI-Berichte Nr. 2288, 2016426 …” „… methods. Our present work is an extension of the work in [6] focusing on object-level detection rates …” „… the ground truth object and the Stixel clusters which differs from the objectlevel detection rate …”

M. Kunert, F. Meinl, M. Stolz Herausforderungen, Migrationspfade und Zukunftstechnologien auf dem Weg hin zum vollautomatisierten Fahren – Perspektiven und Sichtweisen aus dem Blickwinkel eines Automobilradars S. 169-184

„… Micro-Doppler analysis are addressed and improvements in environmental perception are shown by evaluating object …” „… . Kunert, W. Menzel: Clustering of High Resolution Automotive Radar Detections and Subsequent Feature …”

doi.org/10.51202/9783181022887

VDI Wissensforum GmbH - Fahrerassistenzsysteme und automatisiertes Fahren 2018

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VDI Wissensforum GmbH (Hrsg.)

Fahrerassistenzsysteme und automatisiertes Fahren 2018

Reihe: VDI-Berichte

Band 2335 2018

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D. Krökel, S. Hachfeld, M. du Bois, M. Pfitzer, S. Hegemann Camera Based Lost Cargo Detection for Automated Driving S. 55-62

„… ). Because of the large variety of appearances, handcrafted feature extraction and common object detection …” „… ). Because of the large variety of appearances, handcrafted f ature extraction and common object detection …” „… until in the following step the objects are confirmed as real objects in the stereo detection. 5.3 …”

M. Simon, S. Milz Echtzeit 3D Objekterkennung mit Punktwolken S. 125-136

„… , A.: You only look once: Unified realtime object detection. CoRR abs/1506.02640 (2015) [2] Redmon, J …” „… ., Vasconcelos, N.: A unified multi-scale deep convolutional neural network for fast object detection. CoRR abs …” „… ., Kundu, K., Zhang, Z., Ma, H., Fidler, S., Urtasun, R.: Monocular 3d object detection for autonomous …”

M. Karg, C. Scharfenberger, R. Thiel Machine Learning for Vision-based Pedestrian Detection Achievements and Future Challenges S. 151-164

„… detection has been achieved within the past ten years. Research on object detection has been stimulated by …” „… occlusion, lightness, and object size. Future challenges in pedestrian detection includes overcoming these …” „… network for CNN based object detection”. IEEE 20th International Conference on Intelligent Transportation …”

D. Schneider, B. Schick, B. Huber, H. Lategahn Measuring method of function and quality of automated lateral control based on high-precision digital ”Ground Truth” maps S. 3-16

„… process is launched to translate the object detections (e.g. road signs) into 3D. An example of 3D map is …” „… , such as airbag, operation and hands-off detection. The novelty is the ability to measure the …” „… or LIDAR (light detection and ranging) [19]. Different customer and benchmark studies, conducted by …”

doi.org/10.51202/9783181023358

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