LIDAR and vision‐based pedestrian detection system

Premebida, Cristiano; Ludwig, Oswaldo; Nunes, Urbano

doi:10.1002/rob.20312

Cited by 174 publications

(110 citation statements)

References 18 publications

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“…The manufacturers of laserscanners see market potential in UAVs and launched several light weight products like the RIEGL miniVUX-1UAV, the SICK TIM551 or the Hokuyo UTM-30LX-EW in recent years. Further, the combination of cameras and laserscanners attached to an UAV provides a powerful tool to capture and analyze spatial information (Jutzi et al, 2014;Premebida et al, 2009). Figure 1: Sketch of an UAS with minimal configuration of sensors utilized by our calibration approach.…”

Section: Introductionmentioning

confidence: 99%

UCalMiCeL – UNIFIED INTRINSIC AND EXTRINSIC CALIBRATION OF A MULTI-CAMERA-SYSTEM AND A LASERSCANNER

Hillemann

Jutzi²

2017

ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci.

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ABSTRACT:Unmanned Aerial Vehicle (UAV) with adequate sensors enable new applications in the scope between expensive, large-scale, aircraftcarried remote sensing and time-consuming, small-scale, terrestrial surveyings. To perform these applications, cameras and laserscanners are a good sensor combination, due to their complementary properties. To exploit this sensor combination the intrinsics and relative poses of the individual cameras and the relative poses of the cameras and the laserscanners have to be known. In this manuscript, we present a calibration methodology for the Unified Intrinsic and Extrinsic Calibration of a Multi-Camera-System and a Laserscanner (UCalMiCeL). The innovation of this methodology, which is an extension to the calibration of a single camera to a line laserscanner, is an unifying bundle adjustment step to ensure an optimal calibration of the entire sensor system. We use generic camera models, including pinhole, omnidirectional and fisheye cameras. For our approach, the laserscanner and each camera have to share a joint field of view, whereas the fields of view of the individual cameras may be disjoint. The calibration approach is tested with a sensor system consisting of two fisheye cameras and a line laserscanner with a range measuring accuracy of 30mm. We evaluate the estimated relative poses between the cameras quantitatively by using an additional calibration approach for Multi-Camera-Systems based on control points which are accurately measured by a motion capture system. In the experiments, our novel calibration method achieves a relative pose estimation with a deviation below 1.8• and 6.4mm.

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Section: Introductionmentioning

confidence: 99%

UCalMiCeL – UNIFIED INTRINSIC AND EXTRINSIC CALIBRATION OF A MULTI-CAMERA-SYSTEM AND A LASERSCANNER

Hillemann

Jutzi²

2017

ISPRS Ann. Photogramm. Remote Sens. Spatial Inf. Sci.

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“…Especially, integrating a vision sensor and a two dimensional lidar in a mobile robot platform is a representative topic of works. Researches about detecting moving objects such as cars or pedestrians and determining positions of the targets have also been studied [5][6]. Moreover, path planning techniques of an UAV (Unmanned Aerial Vehicle) was developed with the sensor integration framework [7].…”

Section: Introductionmentioning

confidence: 99%

Augmented Feature Point Initialization Method for Vision/Lidar Aided 6-DoF Bearing-Only Inertial SLAM

Yun¹,

Lee²,

Kim³

et al. 2016

Journal of Electrical Engineering and Technology

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-This study proposes a novel feature point initialization method in order to improve the accuracy of feature point positions by fusing a vision sensor and a lidar. The initialization is a process that determines three dimensional positions of feature points through two dimensional image data, which has a direct influence on performance of a 6-DoF bearing-only SLAM. Prior to the initialization, an extrinsic calibration method which estimates rotational and translational relationships between a vision sensor and lidar using multiple calibration tools was employed, then the feature point initialization method based on the estimated extrinsic calibration parameters was presented. In this process, in order to improve performance of the accuracy of the initialized feature points, an iterative automatic scaling parameter tuning technique was presented. The validity of the proposed feature point initialization method was verified in a 6-DoF bearing-only SLAM framework through an indoor and outdoor tests that compare estimation performance with the previous initialization method.

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“…Using obstacle detection sensors in systems that generally operate in closed and well-known environment is a useful improvement, especially when the robot has to avoid humans, animals or other types of obstacle. In recent years, great effort has been made toward developing systems for pedestrian detection and avoidance (Fuerstenberg, 2005;Gandhi, 2007;Navarro-Serment, 2008;Premebida, 2009). Small and low-cost mobile robots are limited in terms of the selection of sensors.…”

Section: Introduction 1234mentioning

confidence: 99%

A Novel Low-Cost Adaptive Scanner Concept for Mobile Robots

Stančić¹,

Musić²,

Cecić³

2014

ing.inv.

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A fundamental problem in mobile robot applications is the need for accurate knowledge of the position of a vehicle for localizing itself and for avoiding obstacles in its path. In the search for a solution to this problem, researchers and engineers have developed different sensors, systems and techniques. Modern mobile robots relay information obtained from a variety of sensors and sophisticated data fusion algorithms. In this paper, a novel concept for a low-cost adaptive scanner based on a projected light pattern is proposed. The main advantage of the proposed system is its adaptivity, which enables the rapid scanning of the robot's surroundings in search of obstacles and a more detailed scan of a single object to retrieve its surface configuration and perform some limited analyses. This paper addresses the concept behind such a scanner, where a proof-of-concept is achieved using an office DLP projector. During the measurements, the accuracy of the proposed system was tested on obstacles and objects with known configurations. The obtained results are presented and analyzed, and conclusions about the system's performance and possible improvements are discussed.Keywords: Range finder, 3D scanner, mobile robot, structured light, laser, projector. RESUMENEl problema fundamental en las aplicaciones de robots móviles, es la necesidad de conocer con exactitud la posición del vehículo, para poder localizarse en el espacio y evitar obstáculos en su camino. En la búsqueda de una solución, los investigadores e ingenieros han desarrollado diferentes sensores, sistemas y técnicas.Los robots móviles modernos se basan en la información obtenida de diferentes sensores y en sofisticados algoritmos de fusión de datos. Por tal razón, en este artículo se propone un nuevo concepto de escáner de adaptación a bajo costo, basándose en patrones de luz proyectados. La ventaja principal del sistema propuesto es: su adaptabilidad, que permite en los robots el escaneo rápido de los alrededores durante la búsqueda de obstáculos y una exploración más detallada de un objeto determinado, para poder recuperar así, su configuración de la superficie y realizar algunos análisis limitados. El artículo aborda el concepto de un escáner de este tipo, donde se logró la prueba del concepto utilizando un proyector de oficina DLP. Durante las mediciones, la exactitud del sistema propuesto se puso a prueba, usando obstáculos con objetos de configuraciones conocidas. De esta manera, los resultados obtenidos son presentados, analizados y se discuten las conclusiones sobre el desempeño del sistema para generar posibles mejoramientos.Palabras clave: telémetro, escáner 3D, robot móvil, luz estructurada, laser y proyector.

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LIDAR and vision‐based pedestrian detection system

Cited by 174 publications

References 18 publications

UCalMiCeL – UNIFIED INTRINSIC AND EXTRINSIC CALIBRATION OF A MULTI-CAMERA-SYSTEM AND A LASERSCANNER

UCalMiCeL – UNIFIED INTRINSIC AND EXTRINSIC CALIBRATION OF A MULTI-CAMERA-SYSTEM AND A LASERSCANNER

Augmented Feature Point Initialization Method for Vision/Lidar Aided 6-DoF Bearing-Only Inertial SLAM

A Novel Low-Cost Adaptive Scanner Concept for Mobile Robots

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