Error analysis in a stereo vision-based pedestrian detection sensor for collision avoidance applications

This paper presents an analytical study of the depth estimation error of a stereo vision-based pedestrian detection sensor for automotive applications such as pedestrian collision avoidance and/or mitigation. The sensor comprises two synchronized and calibrated low-cost cameras. Pedestrians are dete...

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Detalles Bibliográficos
Autores: Fernández Llorca, David|||0000-0003-2433-7110, Sotelo Vázquez, Miguel Ángel|||0000-0001-8809-2103, Parra Alonso, Ignacio|||0000-0002-3889-018X, Ocaña Miguel, Manuel|||0000-0002-8875-1866, Bergasa Pascual, Luis Miguel|||0000-0002-0087-3077
Tipo de recurso: artículo
Fecha de publicación:2010
País:España
Institución:Universidad de Alcalá (UAH)
Repositorio:e_Buah Biblioteca Digital Universidad de Alcalá
Idioma:inglés
OAI Identifier:oai:ebuah.uah.es:10017/43548
Acceso en línea:http://hdl.handle.net/10017/43548
https://dx.doi.org/10.3390/s100403741
Access Level:acceso abierto
Palabra clave:3D sensors
Automotive industry
Computer vision
Stereo quantization errors
Pedestrian detection
Electrónica
Electronics
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spelling Error analysis in a stereo vision-based pedestrian detection sensor for collision avoidance applicationsFernández Llorca, David|||0000-0003-2433-7110Sotelo Vázquez, Miguel Ángel|||0000-0001-8809-2103Parra Alonso, Ignacio|||0000-0002-3889-018XOcaña Miguel, Manuel|||0000-0002-8875-1866Bergasa Pascual, Luis Miguel|||0000-0002-0087-30773D sensorsAutomotive industryComputer visionStereo quantization errorsPedestrian detectionElectrónicaElectronicsThis paper presents an analytical study of the depth estimation error of a stereo vision-based pedestrian detection sensor for automotive applications such as pedestrian collision avoidance and/or mitigation. The sensor comprises two synchronized and calibrated low-cost cameras. Pedestrians are detected by combining a 3D clustering method with Support Vector Machine-based (SVM) classification. The influence of the sensor parameters in the stereo quantization errors is analyzed in detail providing a point of reference for choosing the sensor setup according to the application requirements. The sensor is then validated in real experiments. Collision avoidance maneuvers by steering are carried out by manual driving. A real time kinematic differential global positioning system (RTK-DGPS) is used to provide ground truth data corresponding to both the pedestrian and the host vehicle locations. The performed field test provided encouraging results and proved the validity of the proposed sensor for being used in the automotive sector towards applications such as autonomous pedestrian collision avoidance.Ministerio de Ciencia e InnovaciónMinisterio de FomentoMDPI20102010-04-13journal articlehttp://purl.org/coar/resource_type/c_6501NAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10017/43548https://dx.doi.org/10.3390/s100403741reponame:e_Buah Biblioteca Digital Universidad de Alcaláinstname:Universidad de Alcalá (UAH)InglésengMinisterio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 Not available TRA2008-06602-C03-03 Coordinación local entre vehículos e infraestructuraMinisterio de Fomento http://dx.doi.org/10.13039/501100008409 Not available P9%2F08open accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessoai:ebuah.uah.es:10017/435482026-06-18T11:13:07Z
dc.title.none.fl_str_mv Error analysis in a stereo vision-based pedestrian detection sensor for collision avoidance applications
title Error analysis in a stereo vision-based pedestrian detection sensor for collision avoidance applications
spellingShingle Error analysis in a stereo vision-based pedestrian detection sensor for collision avoidance applications
Fernández Llorca, David|||0000-0003-2433-7110
3D sensors
Automotive industry
Computer vision
Stereo quantization errors
Pedestrian detection
Electrónica
Electronics
title_short Error analysis in a stereo vision-based pedestrian detection sensor for collision avoidance applications
title_full Error analysis in a stereo vision-based pedestrian detection sensor for collision avoidance applications
title_fullStr Error analysis in a stereo vision-based pedestrian detection sensor for collision avoidance applications
title_full_unstemmed Error analysis in a stereo vision-based pedestrian detection sensor for collision avoidance applications
title_sort Error analysis in a stereo vision-based pedestrian detection sensor for collision avoidance applications
dc.creator.none.fl_str_mv Fernández Llorca, David|||0000-0003-2433-7110
Sotelo Vázquez, Miguel Ángel|||0000-0001-8809-2103
Parra Alonso, Ignacio|||0000-0002-3889-018X
Ocaña Miguel, Manuel|||0000-0002-8875-1866
Bergasa Pascual, Luis Miguel|||0000-0002-0087-3077
author Fernández Llorca, David|||0000-0003-2433-7110
author_facet Fernández Llorca, David|||0000-0003-2433-7110
Sotelo Vázquez, Miguel Ángel|||0000-0001-8809-2103
Parra Alonso, Ignacio|||0000-0002-3889-018X
Ocaña Miguel, Manuel|||0000-0002-8875-1866
Bergasa Pascual, Luis Miguel|||0000-0002-0087-3077
author_role author
author2 Sotelo Vázquez, Miguel Ángel|||0000-0001-8809-2103
Parra Alonso, Ignacio|||0000-0002-3889-018X
Ocaña Miguel, Manuel|||0000-0002-8875-1866
Bergasa Pascual, Luis Miguel|||0000-0002-0087-3077
author2_role author
author
author
author
dc.subject.none.fl_str_mv 3D sensors
Automotive industry
Computer vision
Stereo quantization errors
Pedestrian detection
Electrónica
Electronics
topic 3D sensors
Automotive industry
Computer vision
Stereo quantization errors
Pedestrian detection
Electrónica
Electronics
description This paper presents an analytical study of the depth estimation error of a stereo vision-based pedestrian detection sensor for automotive applications such as pedestrian collision avoidance and/or mitigation. The sensor comprises two synchronized and calibrated low-cost cameras. Pedestrians are detected by combining a 3D clustering method with Support Vector Machine-based (SVM) classification. The influence of the sensor parameters in the stereo quantization errors is analyzed in detail providing a point of reference for choosing the sensor setup according to the application requirements. The sensor is then validated in real experiments. Collision avoidance maneuvers by steering are carried out by manual driving. A real time kinematic differential global positioning system (RTK-DGPS) is used to provide ground truth data corresponding to both the pedestrian and the host vehicle locations. The performed field test provided encouraging results and proved the validity of the proposed sensor for being used in the automotive sector towards applications such as autonomous pedestrian collision avoidance.
publishDate 2010
dc.date.none.fl_str_mv 2010
2010-04-13
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10017/43548
https://dx.doi.org/10.3390/s100403741
url http://hdl.handle.net/10017/43548
https://dx.doi.org/10.3390/s100403741
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 Not available TRA2008-06602-C03-03 Coordinación local entre vehículos e infraestructura
Ministerio de Fomento http://dx.doi.org/10.13039/501100008409 Not available P9%2F08
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivatives 4.0 International
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:e_Buah Biblioteca Digital Universidad de Alcalá
instname:Universidad de Alcalá (UAH)
instname_str Universidad de Alcalá (UAH)
reponame_str e_Buah Biblioteca Digital Universidad de Alcalá
collection e_Buah Biblioteca Digital Universidad de Alcalá
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,301629

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