Efficient resource allocation for automotive active vision systems:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | German |
| Veröffentlicht: |
Göttingen
Cuvillier
2010
|
| Ausgabe: | 1. Aufl. |
| Schriftenreihe: | Audi Dissertationsreihe
24 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Literaturverz. S. 263 - 277 |
| Beschreibung: | IX, 114 S. Ill., graph. Darst. |
| ISBN: | 9783869552507 |
Internformat
MARC
| LEADER | 00000nam a2200000 cb4500 | ||
|---|---|---|---|
| 001 | BV036784162 | ||
| 003 | DE-604 | ||
| 005 | 20110111 | ||
| 007 | t | ||
| 008 | 101118s2010 ad|| m||| 00||| ger d | ||
| 020 | |a 9783869552507 |9 978-3-86955-250-7 | ||
| 035 | |a (OCoLC)705981026 | ||
| 035 | |a (DE-599)BVBBV036784162 | ||
| 040 | |a DE-604 |b ger |e rakwb | ||
| 041 | 0 | |a ger | |
| 049 | |a DE-573 |a DE-706 | ||
| 084 | |a ZO 4260 |0 (DE-625)157720: |2 rvk | ||
| 100 | 1 | |a Matzka, Stephan |d 1980- |e Verfasser |0 (DE-588)141070137 |4 aut | |
| 245 | 1 | 0 | |a Efficient resource allocation for automotive active vision systems |c Stephan Matzka |
| 250 | |a 1. Aufl. | ||
| 264 | 1 | |a Göttingen |b Cuvillier |c 2010 | |
| 300 | |a IX, 114 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Audi Dissertationsreihe |v 24 | |
| 500 | |a Literaturverz. S. 263 - 277 | ||
| 502 | |a Zugl.: Edinburgh, Univ., Diss., 2009 | ||
| 650 | 0 | 7 | |a Fahrerassistenzsystem |0 (DE-588)4622983-8 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Betriebsmittelverwaltung |0 (DE-588)4417917-0 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Aktives Sehen |0 (DE-588)4683193-9 |2 gnd |9 rswk-swf |
| 655 | 7 | |0 (DE-588)4113937-9 |a Hochschulschrift |2 gnd-content | |
| 689 | 0 | 0 | |a Fahrerassistenzsystem |0 (DE-588)4622983-8 |D s |
| 689 | 0 | 1 | |a Aktives Sehen |0 (DE-588)4683193-9 |D s |
| 689 | 0 | 2 | |a Betriebsmittelverwaltung |0 (DE-588)4417917-0 |D s |
| 689 | 0 | |5 DE-604 | |
| 830 | 0 | |a Audi Dissertationsreihe |v 24 |w (DE-604)BV023211311 |9 24 | |
| 856 | 4 | 2 | |m DNB Datenaustausch |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020700710&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
| 999 | |a oai:aleph.bib-bvb.de:BVB01-020700710 | ||
Datensatz im Suchindex
| _version_ | 1804143460859510784 |
|---|---|
| adam_text | IMAGE 1
TABLE OF CONTENTS
FRONT MATTER I
ABSTRACT I
DEDICATION III
ACKNOWLEDGEMENTS V
TABLE OF CONTENTS XI
LIST OF FIGURES XIII
LIST OF TABLES XIX
LIST OF PUBLICATIONS XXV
SYMBOLS XXVII
1 INTRODUCTION 1
1.1 MOTIVATION 1
1.2 INITIAL SITUATION 4
1.2.1 ENVIRONMENT 4
1.2.2 GOAL 5
1.2.3 SENSOR CONFIGURATION OF THE TEST-VEHICLE 7
1.3 SYSTEM OVERVIEW 8
1.4 CONTRIBUTION 10
1.5 THESIS OUTLINE 12
2 LITERATURE REVIEW 13
2.1 AUTOMOTIVE SENSOR SYSTEMS 14
2.1.1 AUTONOMOUS DRIVING SYSTEMS 14
2.1.2 DRIVER ASSISTANCE SYSTEMS 19
2.1.3 DISCUSSION OF AUTOMOTIVE SENSOR SYSTEMS 20
2.2 OBJECT DETECTION AND OBJECT CLASSIFICATION 21
2.2.1 2-D OBJECT DETECTION AND CLASSIFICATION 21
VII
BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/1000309843
DIGITALISIERT DURCH
IMAGE 2
TABLE OF CONTENTS
2.2.2 3-D OBJECT DETECTION AND CLASSIFICATION 27
2.2.3 DISCUSSION OF OBJECT DETECTION AND OBJECT CLASSIFICATION 31
2.3 DECISION MAKING 32
2.3.1 MORAL THEORIES ON RISK 32
2.3.2 PARETO EFFICIENCY 35
2.3.3 MULTIOBJECTIVE RESOURCE ALLOCATION 36
2.3.4 MULTIAGENT RESOURCE ALLOCATION 42
2.3.5 DISCUSSION OF DECISION MAKING 44
2.4 ACTIVE VISION SYSTEMS 45
2.4.1 HUMAN VISUAL SYSTEM 45
2.4.2 BOTTOM-UP SALIENCY DRIVEN VISION SYSTEMS 51
2.4.3 TOP-DOWN SALIENCY DRIVEN VISION SYSTEMS 60
2.4.4 COMBINED BOTTOM-UP AND TOP-DOWN VISION SYSTEMS 63
2.4.5 UTILITY-BASED VISION SYSTEMS 67
2.4.6 DISCUSSION OF ACTIVE VISION SYSTEMS 70
3 SENSOR LEVEL 73
3.1 DIFFERENTIAL GLOBAL POSITIONING SYSTEM 73
3.2 VIDEO CAMERAS 74
3.3 LASER SCANNER 75
3.4 PHOTONIC MIXER DEVICE 75
3.5 DISCUSSION OF SENSORS 76
3.5.1 SENSOR MODALITIES 76
3.5.2 SENSOR RANGES 77
4 DATA LEVEL 79
4.1 COORDINATE SYSTEMS 79
4.1.1 PLAN VIEW 79
4.1.2 PERSPECTIVE VIEW 80
4.1.3 COORDINATE TRANSFORMATION 81
4.2 POSITION AND VELOCITY OF EGO-VEHICLE 82
4.3 LUMINANCE 83
4.4 RANGE 84
4.5 MOTION 84
VIII
IMAGE 3
TABLE OF CONTENTS
4.5.1 RANGE PROFILE DIFFERENTIATION 84
4.5.2 2-D AND 3-D MOTION VECTOR MAPS 86
4.6 DISCUSSION OF DATA LEVEL MODULES 97
5 SEMANTIC LEVEL 99
5.1 ROAD TYPE 100
5.2 2-D TRAFFIC PARTICIPANT DETECTION AND CLASSIFICATION 101
5.2.1 TRAINING AND EVALUATION OF CASCADES 102
5.2.2 PEDESTRIAN CLASSIFIER CASCADES 103
5.2.3 CAR CLASSIFIER CASCADES 107
5.2.4 LORRY CLASSIFIER CASCADES 109
5.2.5 HUMAN DETECTOR CASCADE AND VEHICLE DETECTOR CASCADES 112
5.2.6 VALIDATION OF DETECTED TRAFFIC PARTICIPANTS 115
5.3 3-D TRAFFIC PARTICIPANT CLASSIFICATION 118
5.3.1 SPIN IMAGE GENERATION WITH SPARSE INPUT DATA 119
5.3.2 REGRESSION OF SCAN PATTERN FEATURES 122
5.3.3 GENERATING EFFICIENT SCAN PATTERNS 127
5.4 SALIENCY DETECTION 129
5.4.1 IMPLEMENTED SALIENCY DETECTORS 129
5.4.2 EVALUATION OF SALIENCY DETECTION 131
5.5 TIME-TO-COLLISION 136
5.6 DISCUSSION OF SEMANTIC LEVEL MODULES 139
6 REASONING LEVEL 141
6.1 TRAFFIC PARTICIPANT PROBABILITY DETERMINATION 141
6.1.1 STATISTICAL INFORMATION 142
6.1.2 DYNAMIC INFORMATION 143
6.1.3 FUSION OF STATISTICAL AND DYNAMIC INFORMATION 146
6.2 CANDIDATE REGION DETERMINATION 150
6.2.1 USE OF SALIENCY 151
6.2.2 USE OF TRAFFIC PARTICIPANT DETECTION 152
6.2.3 USE OF STATISTICALLY OPTIMAL REGIONS 154
6.2.4 EVALUATION OF CANDIDATE REGION DETERMINATION 154
6.2.5 COMPARISON OF STRATEGIES FOR CANDIDATE REGION DETERMINATION . . .
159
IX
IMAGE 4
TABLE OF CONTENTS
6.3 DISCUSSION OF REASONING LEVEL MODULES 162
6.3.1 TRAFFIC PARTICIPANT PROBABILITY DETERMINATION 162
6.3.2 CANDIDATE REGION QUALITY 163
7 CONTEXTUAL RESOURCE ALLOCATION 165
7.1 RESOURCE ALLOCATION CONCEPT 165
7.1.1 INFLUENCES ON DECISION MAKING 166
7.1.2 FORMS OF DECISION MAKING 168
7.1.3 FORMALISATION OF RESOURCE ALLOCATION PROBLEM 170
7.1.4 PROPOSED RESOURCE ALLOCATION CONCEPT 171
7.2 DETERMINATION OF COMBINED UTILITY 173
7.2.1 INTRODUCTION OF EXAMPLE SCENE 174
7.2.2 OBJECTIVES FOR UTILITY OPTIMISATION 176
7.2.3 EVALUATION OF COMBINED UTILITY 187
7.3 SENSOR RESOURCE ALLOCATION HEURISTICS 190
7.3.1 EXHAUSTIVE SEARCH METHOD 191
7.3.2 BEST-FIRST SEARCH METHOD 192
7.3.3 PRE-SORTED SEARCH METHOD 192
7.3.4 SENSOR MODEL FOR UTILITY CALCULATION 195
7.3.5 EVALUATION OF SENSOR RESOURCE ALLOCATION HEURISTICS 199
7.4 COMPUTATIONAL RESOURCE ALLOCATION HEURISTICS 205
7.4.1 SCALING OF COMPUTATIONAL COSTS 205
7.4.2 QUEUE SCHEDULING 206
7.4.3 DETERMINATION OF CLASSIFIERS AND PRIORITIES 209
7.4.4 EVALUATION OF COMPUTATIONAL RESOURCE ALLOCATION HEURISTICS . . .
.211
7.5 EVALUATION OF CONTEXTUAL RESOURCE ALLOCATION 215
7.5.1 EVALUATION OF CONTEXTUAL SENSOR RESOURCE ALLOCATION 215
7.5.2 EVALUATION OF CONTEXTUAL COMPUTATIONAL RESOURCE ALLOCATION . . ..
218
7.5.3 RESULTING ALLOCATIONS FOR TEST SEQUENCES 222
7.6 DISCUSSION OF CONTEXTUAL RESOURCE ALLOCATION 222
7.6.1 SEVERITY DETERMINATION 222
7.6.2 RESOURCE ALLOCATION CONCEPT 224
7.6.3 DISCUSSION OF RESULTING ALLOCATIONS FOR TEST SEQUENCES 225
IMAGE 5
TABLE OF CONTENTS
8 CONCLUSIONS AND FUTURE WORK 227
8.1 CONCLUSION 227
8.2 FUTURE WORK 229
A TEST SEQUENCES 233
B RESULTING ALLOCATIONS 239
B.I ALLOCATION FOR TRAFFIC CALMED SEQUENCE (TRC) 241
B.2 ALLOCATION FOR URBAN SEQUENCE (URB) 248
B.3 ALLOCATION FOR MOTORWAY SEQUENCE (MWY) 255
BIBLIOGRAPHY 277
|
| any_adam_object | 1 |
| author | Matzka, Stephan 1980- |
| author_GND | (DE-588)141070137 |
| author_facet | Matzka, Stephan 1980- |
| author_role | aut |
| author_sort | Matzka, Stephan 1980- |
| author_variant | s m sm |
| building | Verbundindex |
| bvnumber | BV036784162 |
| classification_rvk | ZO 4260 |
| ctrlnum | (OCoLC)705981026 (DE-599)BVBBV036784162 |
| discipline | Verkehr / Transport |
| edition | 1. Aufl. |
| format | Thesis Book |
| fullrecord | <?xml version="1.0" encoding="UTF-8"?><collection xmlns="http://www.loc.gov/MARC21/slim"><record><leader>01781nam a2200433 cb4500</leader><controlfield tag="001">BV036784162</controlfield><controlfield tag="003">DE-604</controlfield><controlfield tag="005">20110111 </controlfield><controlfield tag="007">t</controlfield><controlfield tag="008">101118s2010 ad|| m||| 00||| ger d</controlfield><datafield tag="020" ind1=" " ind2=" "><subfield code="a">9783869552507</subfield><subfield code="9">978-3-86955-250-7</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(OCoLC)705981026</subfield></datafield><datafield tag="035" ind1=" " ind2=" "><subfield code="a">(DE-599)BVBBV036784162</subfield></datafield><datafield tag="040" ind1=" " ind2=" "><subfield code="a">DE-604</subfield><subfield code="b">ger</subfield><subfield code="e">rakwb</subfield></datafield><datafield tag="041" ind1="0" ind2=" "><subfield code="a">ger</subfield></datafield><datafield tag="049" ind1=" " ind2=" "><subfield code="a">DE-573</subfield><subfield code="a">DE-706</subfield></datafield><datafield tag="084" ind1=" " ind2=" "><subfield code="a">ZO 4260</subfield><subfield code="0">(DE-625)157720:</subfield><subfield code="2">rvk</subfield></datafield><datafield tag="100" ind1="1" ind2=" "><subfield code="a">Matzka, Stephan</subfield><subfield code="d">1980-</subfield><subfield code="e">Verfasser</subfield><subfield code="0">(DE-588)141070137</subfield><subfield code="4">aut</subfield></datafield><datafield tag="245" ind1="1" ind2="0"><subfield code="a">Efficient resource allocation for automotive active vision systems</subfield><subfield code="c">Stephan Matzka</subfield></datafield><datafield tag="250" ind1=" " ind2=" "><subfield code="a">1. Aufl.</subfield></datafield><datafield tag="264" ind1=" " ind2="1"><subfield code="a">Göttingen</subfield><subfield code="b">Cuvillier</subfield><subfield code="c">2010</subfield></datafield><datafield tag="300" ind1=" " ind2=" "><subfield code="a">IX, 114 S.</subfield><subfield code="b">Ill., graph. Darst.</subfield></datafield><datafield tag="336" ind1=" " ind2=" "><subfield code="b">txt</subfield><subfield code="2">rdacontent</subfield></datafield><datafield tag="337" ind1=" " ind2=" "><subfield code="b">n</subfield><subfield code="2">rdamedia</subfield></datafield><datafield tag="338" ind1=" " ind2=" "><subfield code="b">nc</subfield><subfield code="2">rdacarrier</subfield></datafield><datafield tag="490" ind1="1" ind2=" "><subfield code="a">Audi Dissertationsreihe</subfield><subfield code="v">24</subfield></datafield><datafield tag="500" ind1=" " ind2=" "><subfield code="a">Literaturverz. S. 263 - 277</subfield></datafield><datafield tag="502" ind1=" " ind2=" "><subfield code="a">Zugl.: Edinburgh, Univ., Diss., 2009</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Fahrerassistenzsystem</subfield><subfield code="0">(DE-588)4622983-8</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Betriebsmittelverwaltung</subfield><subfield code="0">(DE-588)4417917-0</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="650" ind1="0" ind2="7"><subfield code="a">Aktives Sehen</subfield><subfield code="0">(DE-588)4683193-9</subfield><subfield code="2">gnd</subfield><subfield code="9">rswk-swf</subfield></datafield><datafield tag="655" ind1=" " ind2="7"><subfield code="0">(DE-588)4113937-9</subfield><subfield code="a">Hochschulschrift</subfield><subfield code="2">gnd-content</subfield></datafield><datafield tag="689" ind1="0" ind2="0"><subfield code="a">Fahrerassistenzsystem</subfield><subfield code="0">(DE-588)4622983-8</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="1"><subfield code="a">Aktives Sehen</subfield><subfield code="0">(DE-588)4683193-9</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2="2"><subfield code="a">Betriebsmittelverwaltung</subfield><subfield code="0">(DE-588)4417917-0</subfield><subfield code="D">s</subfield></datafield><datafield tag="689" ind1="0" ind2=" "><subfield code="5">DE-604</subfield></datafield><datafield tag="830" ind1=" " ind2="0"><subfield code="a">Audi Dissertationsreihe</subfield><subfield code="v">24</subfield><subfield code="w">(DE-604)BV023211311</subfield><subfield code="9">24</subfield></datafield><datafield tag="856" ind1="4" ind2="2"><subfield code="m">DNB Datenaustausch</subfield><subfield code="q">application/pdf</subfield><subfield code="u">http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020700710&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA</subfield><subfield code="3">Inhaltsverzeichnis</subfield></datafield><datafield tag="999" ind1=" " ind2=" "><subfield code="a">oai:aleph.bib-bvb.de:BVB01-020700710</subfield></datafield></record></collection> |
| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV036784162 |
| illustrated | Illustrated |
| indexdate | 2024-07-09T22:48:01Z |
| institution | BVB |
| isbn | 9783869552507 |
| language | German |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-020700710 |
| oclc_num | 705981026 |
| open_access_boolean | |
| owner | DE-573 DE-706 |
| owner_facet | DE-573 DE-706 |
| physical | IX, 114 S. Ill., graph. Darst. |
| publishDate | 2010 |
| publishDateSearch | 2010 |
| publishDateSort | 2010 |
| publisher | Cuvillier |
| record_format | marc |
| series | Audi Dissertationsreihe |
| series2 | Audi Dissertationsreihe |
| spelling | Matzka, Stephan 1980- Verfasser (DE-588)141070137 aut Efficient resource allocation for automotive active vision systems Stephan Matzka 1. Aufl. Göttingen Cuvillier 2010 IX, 114 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Audi Dissertationsreihe 24 Literaturverz. S. 263 - 277 Zugl.: Edinburgh, Univ., Diss., 2009 Fahrerassistenzsystem (DE-588)4622983-8 gnd rswk-swf Betriebsmittelverwaltung (DE-588)4417917-0 gnd rswk-swf Aktives Sehen (DE-588)4683193-9 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Fahrerassistenzsystem (DE-588)4622983-8 s Aktives Sehen (DE-588)4683193-9 s Betriebsmittelverwaltung (DE-588)4417917-0 s DE-604 Audi Dissertationsreihe 24 (DE-604)BV023211311 24 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020700710&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Matzka, Stephan 1980- Efficient resource allocation for automotive active vision systems Audi Dissertationsreihe Fahrerassistenzsystem (DE-588)4622983-8 gnd Betriebsmittelverwaltung (DE-588)4417917-0 gnd Aktives Sehen (DE-588)4683193-9 gnd |
| subject_GND | (DE-588)4622983-8 (DE-588)4417917-0 (DE-588)4683193-9 (DE-588)4113937-9 |
| title | Efficient resource allocation for automotive active vision systems |
| title_auth | Efficient resource allocation for automotive active vision systems |
| title_exact_search | Efficient resource allocation for automotive active vision systems |
| title_full | Efficient resource allocation for automotive active vision systems Stephan Matzka |
| title_fullStr | Efficient resource allocation for automotive active vision systems Stephan Matzka |
| title_full_unstemmed | Efficient resource allocation for automotive active vision systems Stephan Matzka |
| title_short | Efficient resource allocation for automotive active vision systems |
| title_sort | efficient resource allocation for automotive active vision systems |
| topic | Fahrerassistenzsystem (DE-588)4622983-8 gnd Betriebsmittelverwaltung (DE-588)4417917-0 gnd Aktives Sehen (DE-588)4683193-9 gnd |
| topic_facet | Fahrerassistenzsystem Betriebsmittelverwaltung Aktives Sehen Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020700710&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV023211311 |
| work_keys_str_mv | AT matzkastephan efficientresourceallocationforautomotiveactivevisionsystems |