Data fusion for overtaking vehicle detection based on radar and optical flow

Abstract

Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Garcia, F.; Cerri, P.; Escalera, A.; Armingol, J. M. (2012). Data fusion for overtaking vehicle detection based on radar and optical flow.

Looking at Vehicles on the Road: A Survey of Vision-Based Vehicle Detection, Tracking, and Behavior Analysis

“…In [162] and [163], information fusion between radar and vision sensors was used to probabilistically estimate the positions of vehicles and to propagate estimation uncertainty into decision making, for lane change recommendations on the highway. In [164], vision and radar were combined to detect overtaking vehicles on the highway, using optical flow to detect vehicles entering the camera's field of view. Radar and vision were combined in [165], with radar detecting side guardrails and vision detecting vehicle using symmetry cues.…”

“…Certain studies try to categorize observed vehicle behavior as normal or abnormal [88], identifying and highlighting critical situations. Other studies try to identify specific maneuvers, such as overtaking [164], turning [3], or lane changes [6]. Most recently, studies in the literature have tried to make long-term classification and prediction of vehicle motion.…”

“…Overtaking behavior is specifically detected in [77], this time with the camera pointing forward and vehicles detected as they overtake in front of the ego vehicle. In [164], overtaking behavior is also detected in front of the ego vehicle, using a fusion of vision and radar. Overtaking behavior is also detected in [87], also for vehicles in front of the ego vehicle.…”

Overtaking & receding vehicle detection for driver assistance and naturalistic driving studies

“…Most related studies such as [20], [19], [17], [21] have primarily focused on detecting overtaking vehicle only. Vehicles that are receding w.r.t ego-vehicle are not addressed in any of the works.…”

“…rsatzoda@eng.ucsd.edu, mtrivedi@ucsd.edu being detected. Methods such as [20], [19], [17] detect the partially visible overtaking vehicles that are passing by the side of the ego-vehicle as seen from the front view of egovehicle. The second category has methods such as [21], [17] that detect overtaking events as seen from the rear-view of the ego-vehicle.…”