MULTI-CAMERA PEDESTRIAN DETECTION BY MEANS OF TRACK-TO-TRACK FUSION AND CAR2CAR COMMUNICATION

Anselm Haselhoff, Lars Hoehmann, Anton Kummert, Christian Nunn, Mirko Meuter, Stefan Müller-Schneiders

Abstract

In this paper a system for fusion of pedestrian detections from multiple vehicles is presented. The application area is narrowed down to driver assistance systems, where single cameras are mounted in the moving vehicles. The main contribution of this paper is a comparison of three fusion algorithms based on real image data. The methods under review include Covariance Fusion, Covariance Intersection, and Covariance Union. An experimental setup is presented, with known ground truth positions of the detected objects. This information can be incorporated for the evaluation of the fusion methods. The system setup consists of two vehicles equipped with LANCOM® wireless access points, cameras, inertial measurement units (IMU) and IMU enhanced GPS receivers. Each vehicle detects pedestrians by means of the camera and an AdaBoost detection algorithm. The results are tracked and transmitted to the other vehicle in appropriate coordinates. Afterwards each vehicle is responsible for reasonable treatment or fusion of the detection data.

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Paper Citation


in Harvard Style

Haselhoff A., Hoehmann L., Kummert A., Nunn C., Meuter M. and Müller-Schneiders S. (2011). MULTI-CAMERA PEDESTRIAN DETECTION BY MEANS OF TRACK-TO-TRACK FUSION AND CAR2CAR COMMUNICATION . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011) ISBN 978-989-8425-47-8, pages 307-312. DOI: 10.5220/0003315603070312


in Bibtex Style

@conference{visapp11,
author={Anselm Haselhoff and Lars Hoehmann and Anton Kummert and Christian Nunn and Mirko Meuter and Stefan Müller-Schneiders},
title={MULTI-CAMERA PEDESTRIAN DETECTION BY MEANS OF TRACK-TO-TRACK FUSION AND CAR2CAR COMMUNICATION},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011)},
year={2011},
pages={307-312},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003315603070312},
isbn={978-989-8425-47-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2011)
TI - MULTI-CAMERA PEDESTRIAN DETECTION BY MEANS OF TRACK-TO-TRACK FUSION AND CAR2CAR COMMUNICATION
SN - 978-989-8425-47-8
AU - Haselhoff A.
AU - Hoehmann L.
AU - Kummert A.
AU - Nunn C.
AU - Meuter M.
AU - Müller-Schneiders S.
PY - 2011
SP - 307
EP - 312
DO - 10.5220/0003315603070312