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Fast Dynamic Vehicle Detection in Road Scenarios Based on Pose Estimation with Convex-Hull Model

Dynamic vehicle detection is of great significance for the safety of autonomous vehicles and the formulation of subsequent driving strategies. A pose-estimation algorithm, namely, the pose estimation with convex-hull model (PE-CHM), is proposed in this paper, and introduced in the dynamic vehicle de...

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Detalles Bibliográficos
Autores principales: Liu, Kaiqi, Wang, Jianqiang
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6679574/
https://www.ncbi.nlm.nih.gov/pubmed/31319457
http://dx.doi.org/10.3390/s19143136
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author Liu, Kaiqi
Wang, Jianqiang
author_facet Liu, Kaiqi
Wang, Jianqiang
author_sort Liu, Kaiqi
collection PubMed
description Dynamic vehicle detection is of great significance for the safety of autonomous vehicles and the formulation of subsequent driving strategies. A pose-estimation algorithm, namely, the pose estimation with convex-hull model (PE-CHM), is proposed in this paper, and introduced in the dynamic vehicle detection system. In PE-CHM, the convex hull of the object’s point-clouds is first extracted and the most fitted bounding box is determined by a multifactor objective function. Next, the center position of the target is inferred according to the location and direction of the target. With the obtained bounding box and the position inference, the pose of the target is determined, which reduces the interference of the missing contour on pose estimation. Finally, three experiments were performed to validate the performance of the proposed PE-CHM method. Compared with several typical model-based methods, PE-CHM can implement dynamic vehicle detection faster, which reduces the amount of calculation on the basis of ensuring detection efficiency.
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spelling pubmed-66795742019-08-19 Fast Dynamic Vehicle Detection in Road Scenarios Based on Pose Estimation with Convex-Hull Model Liu, Kaiqi Wang, Jianqiang Sensors (Basel) Article Dynamic vehicle detection is of great significance for the safety of autonomous vehicles and the formulation of subsequent driving strategies. A pose-estimation algorithm, namely, the pose estimation with convex-hull model (PE-CHM), is proposed in this paper, and introduced in the dynamic vehicle detection system. In PE-CHM, the convex hull of the object’s point-clouds is first extracted and the most fitted bounding box is determined by a multifactor objective function. Next, the center position of the target is inferred according to the location and direction of the target. With the obtained bounding box and the position inference, the pose of the target is determined, which reduces the interference of the missing contour on pose estimation. Finally, three experiments were performed to validate the performance of the proposed PE-CHM method. Compared with several typical model-based methods, PE-CHM can implement dynamic vehicle detection faster, which reduces the amount of calculation on the basis of ensuring detection efficiency. MDPI 2019-07-17 /pmc/articles/PMC6679574/ /pubmed/31319457 http://dx.doi.org/10.3390/s19143136 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Liu, Kaiqi
Wang, Jianqiang
Fast Dynamic Vehicle Detection in Road Scenarios Based on Pose Estimation with Convex-Hull Model
title Fast Dynamic Vehicle Detection in Road Scenarios Based on Pose Estimation with Convex-Hull Model
title_full Fast Dynamic Vehicle Detection in Road Scenarios Based on Pose Estimation with Convex-Hull Model
title_fullStr Fast Dynamic Vehicle Detection in Road Scenarios Based on Pose Estimation with Convex-Hull Model
title_full_unstemmed Fast Dynamic Vehicle Detection in Road Scenarios Based on Pose Estimation with Convex-Hull Model
title_short Fast Dynamic Vehicle Detection in Road Scenarios Based on Pose Estimation with Convex-Hull Model
title_sort fast dynamic vehicle detection in road scenarios based on pose estimation with convex-hull model
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6679574/
https://www.ncbi.nlm.nih.gov/pubmed/31319457
http://dx.doi.org/10.3390/s19143136
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