Integrating Millimeter Wave Radar with a Monocular Vision Sensor for On-Road Obstacle Detection Applications
Identifieur interne : 002B27 ( Main/Exploration ); précédent : 002B26; suivant : 002B28Integrating Millimeter Wave Radar with a Monocular Vision Sensor for On-Road Obstacle Detection Applications
Auteurs : Tao Wang ; Nanning Zheng ; Jingmin Xin ; Zheng MaSource :
- Sensors (Basel, Switzerland) [ 1424-8220 ] ; 2011.
Abstract
This paper presents a systematic scheme for fusing millimeter wave (MMW) radar and a monocular vision sensor for on-road obstacle detection. As a whole, a three-level fusion strategy based on visual attention mechanism and driver’s visual consciousness is provided for MMW radar and monocular vision fusion so as to obtain better comprehensive performance. Then an experimental method for radar-vision point alignment for easy operation with no reflection intensity of radar and special tool requirements is put forward. Furthermore, a region searching approach for potential target detection is derived in order to decrease the image processing time. An adaptive thresholding algorithm based on a new understanding of shadows in the image is adopted for obstacle detection, and edge detection is used to assist in determining the boundary of obstacles. The proposed fusion approach is verified through real experimental examples of on-road vehicle/pedestrian detection. In the end, the experimental results show that the proposed method is simple and feasible.
Url:
DOI: 10.3390/s110908992
PubMed: 22164117
PubMed Central: 3231508
Affiliations:
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Integrating Millimeter Wave Radar with a Monocular Vision Sensor for On-Road Obstacle Detection Applications</title><author><name sortKey="Wang, Tao" sort="Wang, Tao" uniqKey="Wang T" first="Tao" last="Wang">Tao Wang</name></author><author><name sortKey="Zheng, Nanning" sort="Zheng, Nanning" uniqKey="Zheng N" first="Nanning" last="Zheng">Nanning Zheng</name></author><author><name sortKey="Xin, Jingmin" sort="Xin, Jingmin" uniqKey="Xin J" first="Jingmin" last="Xin">Jingmin Xin</name></author><author><name sortKey="Ma, Zheng" sort="Ma, Zheng" uniqKey="Ma Z" first="Zheng" last="Ma">Zheng Ma</name></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">22164117</idno><idno type="pmc">3231508</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3231508</idno><idno type="RBID">PMC:3231508</idno><idno type="doi">10.3390/s110908992</idno><date when="2011">2011</date><idno type="wicri:Area/Pmc/Corpus">002514</idno><idno type="wicri:Area/Pmc/Curation">002514</idno><idno type="wicri:Area/Pmc/Checkpoint">001B09</idno><idno type="wicri:Area/Ncbi/Merge">001D27</idno><idno type="wicri:Area/Ncbi/Curation">001D27</idno><idno type="wicri:Area/Ncbi/Checkpoint">001D27</idno><idno type="wicri:Area/Main/Merge">002B62</idno><idno type="wicri:Area/Main/Curation">002B27</idno><idno type="wicri:Area/Main/Exploration">002B27</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Integrating Millimeter Wave Radar with a Monocular Vision Sensor for On-Road Obstacle Detection Applications</title><author><name sortKey="Wang, Tao" sort="Wang, Tao" uniqKey="Wang T" first="Tao" last="Wang">Tao Wang</name></author><author><name sortKey="Zheng, Nanning" sort="Zheng, Nanning" uniqKey="Zheng N" first="Nanning" last="Zheng">Nanning Zheng</name></author><author><name sortKey="Xin, Jingmin" sort="Xin, Jingmin" uniqKey="Xin J" first="Jingmin" last="Xin">Jingmin Xin</name></author><author><name sortKey="Ma, Zheng" sort="Ma, Zheng" uniqKey="Ma Z" first="Zheng" last="Ma">Zheng Ma</name></author></analytic><series><title level="j">Sensors (Basel, Switzerland)</title><idno type="eISSN">1424-8220</idno><imprint><date when="2011">2011</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>This paper presents a systematic scheme for fusing millimeter wave (MMW) radar and a monocular vision sensor for on-road obstacle detection. As a whole, a three-level fusion strategy based on visual attention mechanism and driver’s visual consciousness is provided for MMW radar and monocular vision fusion so as to obtain better comprehensive performance. Then an experimental method for radar-vision point alignment for easy operation with no reflection intensity of radar and special tool requirements is put forward. Furthermore, a region searching approach for potential target detection is derived in order to decrease the image processing time. An adaptive thresholding algorithm based on a new understanding of shadows in the image is adopted for obstacle detection, and edge detection is used to assist in determining the boundary of obstacles. The proposed fusion approach is verified through real experimental examples of on-road vehicle/pedestrian detection. 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