Comparison of mono camera-based static obstacle position estimation methods for automotive application

Peter Bauer, Antal Hiba, A. Zarándy

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents the comparison of four different mono camera-based steady obstacle position and size estimation algorithms focusing on automatic emergency braking application. Three methods are well known in the automotive field, the fourth is the author's own method successfully applied in aerospace until now. The first contribution is the extension of all methods to consider multiple data points and variable velocity (where possible). The second contribution is an extensive simulation testing of the methods considering constant and variable speeds, attitude uncertainties and the braking characteristic of real vehicles. The methods are evaluated basedon the worst case hitting speed of the obstacle and the precision of obstacle side distance and size estimation. The maximum speeds of applicability are determined for all methods and the results are commented in detail.

Original languageEnglish
Title of host publication27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages386-391
Number of pages6
ISBN (Electronic)9781728128030
DOIs
Publication statusPublished - Jul 1 2019
Event27th Mediterranean Conference on Control and Automation, MED 2019 - Akko, Israel
Duration: Jul 1 2019Jul 4 2019

Publication series

Name27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings

Conference

Conference27th Mediterranean Conference on Control and Automation, MED 2019
CountryIsrael
CityAkko
Period7/1/197/4/19

Fingerprint

Camera
Cameras
Braking
Testing
Estimation Algorithms
Emergency
Uncertainty
Simulation

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Optimization
  • Modelling and Simulation

Cite this

Bauer, P., Hiba, A., & Zarándy, A. (2019). Comparison of mono camera-based static obstacle position estimation methods for automotive application. In 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings (pp. 386-391). [8798518] (27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MED.2019.8798518

Comparison of mono camera-based static obstacle position estimation methods for automotive application. / Bauer, Peter; Hiba, Antal; Zarándy, A.

27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2019. p. 386-391 8798518 (27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bauer, P, Hiba, A & Zarándy, A 2019, Comparison of mono camera-based static obstacle position estimation methods for automotive application. in 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings., 8798518, 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 386-391, 27th Mediterranean Conference on Control and Automation, MED 2019, Akko, Israel, 7/1/19. https://doi.org/10.1109/MED.2019.8798518
Bauer P, Hiba A, Zarándy A. Comparison of mono camera-based static obstacle position estimation methods for automotive application. In 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2019. p. 386-391. 8798518. (27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings). https://doi.org/10.1109/MED.2019.8798518
Bauer, Peter ; Hiba, Antal ; Zarándy, A. / Comparison of mono camera-based static obstacle position estimation methods for automotive application. 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 386-391 (27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings).
@inproceedings{6dd73ae40379467f9d62a7707e13b56d,
title = "Comparison of mono camera-based static obstacle position estimation methods for automotive application",
abstract = "This paper presents the comparison of four different mono camera-based steady obstacle position and size estimation algorithms focusing on automatic emergency braking application. Three methods are well known in the automotive field, the fourth is the author's own method successfully applied in aerospace until now. The first contribution is the extension of all methods to consider multiple data points and variable velocity (where possible). The second contribution is an extensive simulation testing of the methods considering constant and variable speeds, attitude uncertainties and the braking characteristic of real vehicles. The methods are evaluated basedon the worst case hitting speed of the obstacle and the precision of obstacle side distance and size estimation. The maximum speeds of applicability are determined for all methods and the results are commented in detail.",
author = "Peter Bauer and Antal Hiba and A. Zar{\'a}ndy",
year = "2019",
month = "7",
day = "1",
doi = "10.1109/MED.2019.8798518",
language = "English",
series = "27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "386--391",
booktitle = "27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings",

}

TY - GEN

T1 - Comparison of mono camera-based static obstacle position estimation methods for automotive application

AU - Bauer, Peter

AU - Hiba, Antal

AU - Zarándy, A.

PY - 2019/7/1

Y1 - 2019/7/1

N2 - This paper presents the comparison of four different mono camera-based steady obstacle position and size estimation algorithms focusing on automatic emergency braking application. Three methods are well known in the automotive field, the fourth is the author's own method successfully applied in aerospace until now. The first contribution is the extension of all methods to consider multiple data points and variable velocity (where possible). The second contribution is an extensive simulation testing of the methods considering constant and variable speeds, attitude uncertainties and the braking characteristic of real vehicles. The methods are evaluated basedon the worst case hitting speed of the obstacle and the precision of obstacle side distance and size estimation. The maximum speeds of applicability are determined for all methods and the results are commented in detail.

AB - This paper presents the comparison of four different mono camera-based steady obstacle position and size estimation algorithms focusing on automatic emergency braking application. Three methods are well known in the automotive field, the fourth is the author's own method successfully applied in aerospace until now. The first contribution is the extension of all methods to consider multiple data points and variable velocity (where possible). The second contribution is an extensive simulation testing of the methods considering constant and variable speeds, attitude uncertainties and the braking characteristic of real vehicles. The methods are evaluated basedon the worst case hitting speed of the obstacle and the precision of obstacle side distance and size estimation. The maximum speeds of applicability are determined for all methods and the results are commented in detail.

UR - http://www.scopus.com/inward/record.url?scp=85071663246&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85071663246&partnerID=8YFLogxK

U2 - 10.1109/MED.2019.8798518

DO - 10.1109/MED.2019.8798518

M3 - Conference contribution

T3 - 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings

SP - 386

EP - 391

BT - 27th Mediterranean Conference on Control and Automation, MED 2019 - Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

ER -