A reliability-aware fusion concept toward robust ego-lane estimation incorporating multiple sources:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Wiesbaden
Springer Fachmedien Wiesbaden GmbH
[2020]
|
| Schriftenreihe: | AutoUni-Schriftenreihe
Band 140 |
| Schlagworte: | |
| Online-Zugang: | Inhaltstext http://www.springer.com/ Inhaltsverzeichnis |
| Beschreibung: | XIX, 164 Seiten Illustrationen, Diagramme |
| ISBN: | 9783658269487 3658269480 |
Internformat
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| 245 | 1 | 0 | |a A reliability-aware fusion concept toward robust ego-lane estimation incorporating multiple sources |c Tuan Tran Nguyen |
| 264 | 1 | |a Wiesbaden |b Springer Fachmedien Wiesbaden GmbH |c [2020] | |
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| 653 | |a Ego-Lane and Estimation | ||
| 653 | |a Intelligent Vehicles | ||
| 653 | |a Learning Reliability | ||
| 653 | |a Multi-Source Fusion | ||
| 653 | |a Neural Networks | ||
| 653 | |a Random Forests | ||
| 653 | |a Reliability | ||
| 653 | |a Reliability-Aware Fusion | ||
| 653 | |a Road Detection | ||
| 653 | |a Robust Ego-Lane Estimation | ||
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Datensatz im Suchindex
| _version_ | 1804180683820630016 |
|---|---|
| adam_text | CONTENTS
LIST
OF
FIGURES
.................................................................................................................
IX
LIST
OF
TABLES
.....................................................................................................................
XIII
LIST
OF
ALGORITHMS
..............................................................................................................XV
LIST
OF
ACRONYMS
.............................................................................................................
XVII
1
INTRODUCTION
.............................................................................................................
1
1.1
MOTIVATION
AND
CHALLENGES
..............................................................................
1
1.2
APPLICATION
PROBLEM
.......................................................................................
4
1.3
RESEARCH
GAPS
AND
CONTRIBUTIONS
.....................................................................
7
2
RELATED
WORK
.............................................................................................................
9
2.1
MODALITIES
FOR
EGO-LANE
ESTIMATION
...............................................................
9
2.1.1
LANE
MARKINGS
....................................................................................
9
2.1.2
TRAJECTORIES
OF
LEADING
VEHICLES
.........................................................
10
2.1.3
FREE
SPACE
DETECTION
...........................................................................
12
2.1.4
GPS
AND
DIGITAL
MAPS
........................................................................
12
2.1.5
END-TO-END
ROAD
ESTIMATION
..............................................................
13
2.2
MULTI-SOURCE
FUSION
WITHIN
ROAD
ESTIMATION
...............................................
13
2.2.1
WHAT
IS
FUSION?
....................................................................................
14
2.2.2
LOW-LEVEL
AND
INTERMEDIATE-LEVEL
FUSION
.........................................
15
2.2.3
HIGH-LEVEL
FUSION
..............................................................................
16
2.3
RELIABILITY
IN
FUSION
OF
MULTIPLE
SOURCES
........................................................
17
2.3.1
INFORMATION
QUALITY
..............................................................................
17
2.3.2
DEFINITION
AND
ASSESSMENT
OF
RELIABILITY
............................................
21
2.3.3
INTEGRATION
OF
RELIABILITY
.....................................................................
24
2.4
CONCLUSION
.......................................................................................................
26
3
RELIABILITY-BASED
FUSION
FRAMEWORK
.....................................................................
27
3.1
RELATED
WORK
....................................................................................................
27
3.2
BASIC
IDEA
..........................................................................................................
29
3.3
DETAILED
CONCEPT
..............................................................................................
31
3.3.1
SENSOR
SETUP
AND
PERCEPTION
LAYER
.....................................................
31
3.3.2
MODEL-BASED
EGO-LANE
ESTIMATION
.....................................................
36
3.3.3
DATA-DRIVEN
RELIABILITY
ESTIMATION
.....................................................
39
3.3.4
RELIABILITY-AWARE
FUSION
.....................................................................
40
3.4
CONCLUSION
.......................................................................................................
40
4
ASSESSING
RELIABILITY
FOR
EGO-LANE
DETECTION
.....................................................
41
4.1
RELATED
WORK
....................................................................................................
41
4.1.1
PIXEL-BASED
REPRESENTATIONS
..................................................................
42
4.1.2
MODEL-BASED
REPRESENTATIONS
................................................................
43
4.2
CONCEPT
..............................................................................................................
46
4.3
SENSOR-INDEPENDENT
PERFORMANCE
MEASURE
.....................................................
46
4.3.1
REQUIREMENTS
........................................................................................
47
4.3.2
PERFORMANCE
MEASURE
BASED
ON
ANGLE
DIFFERENCE
............................
48
4.3.3
EVALUATION
FRAMEWORK
........................................................................
51
4.4
EXPERIMENTAL
RESULTS
........................................................................................
52
4.4.1
DETAILED
MAP
VERSUS
HUMAN-DRIVEN
PATH
..........................................
52
4.4.2
RELATION
OF
THE
METRICS
........................................................................
54
4.4.3
IDENTIFICATION
OF
PROPER
THRESHOLDS
FOR
ANGLE
METRICS
.......................
55
4.4.4
KPIS
FOR
OVERALL
PERFORMANCE
...........................................................
57
4.5
CONCLUSION
.......................................................................................................
60
5
LEARNING
RELIABILITY
.................................................................................................
61
5.1
CONCEPT
..............................................................................................................
61
5.2
SCENARIO
FEATURE
GENERATION
AND
SELECTION
.....................................................
64
5.2.1
SENSOR-RELATED
FEATURES
.....................................................................
64
5.2.2
CONSENSUS
FEATURES
..............................................................................
67
5.2.3
CONTEXTUAL
INFORMATION
........................................................................
68
5.2.4
FEATURE
SELECTION
.................................................................................
70
5.3
ESTIMATING
RELIABILITY
WITH
SUPERVISED
LEARNING
............................................
71
5.3.1
K-NEAREST
NEIGHBORS
(KNN)
...............................................................
72
5.3.2
DECISION
TREE
(DT)
..............................................................................
73
5.3.3
RANDOM
FORESTS
(RF)
...........................................................................
73
5.3.4
BAYESIAN
NETWORK
(BN)
.....................................................................
75
5.3.5
MAPPING
RELIABILITY
USING
UTM
COORDINATES
(MP)
.........................
76
5.3.6
NAIVE
BAYES
(NB)
.................................................................................
78
5.3.7
SUPPORT
VECTOR
MACHINE
(SVM)
........................................................
79
5.3.8
NEURAL
NETWORK
(NN)
...........................................................................
80
5.4
EXPERIMENTAL
RESULTS
........................................................................................
81
5.4.1
EVALUATION
CONCEPT
..............................................................................
83
5.4.2
EVALUATING
FEATURE
SELECTION
...............................................................
85
5.4.3
EVALUATING
RELIABILITY
ESTIMATION
........................................................
88
5.5
CONCLUSION
.......................................................................................................
92
6
INFORMATION
FUSION
.................................................................................................
95
6.1
RELIABILITY-AWARE
FUSION
..................................................................................
95
6.1.1
CONCEPT
.................................................................................................
95
6.1.2
BASIC
APPROACHES
.................................................................................
96
6.1.3
ADVANCED
FUSION
BASED
ON
DST
AND
RELIABILITIES
............................
99
6.2
DIRECT
FUSION
USING
NEURAL
NETWORKS
...............................................................
102
6.2.1
CONCEPT
....................................................................................................
102
6.2.2
RECONSTRUCTION
OF
TRAINING
DATASET
FOR
ANNS
......................................
103
6.2.3
STRUCTURE
AND
LEARNING
PROCESS
OF
ANNS
............................................
105
6.3
EXPERIMENTAL
RESULTS
...........................................................................................
106
6.3.1
EVALUATION
CONCEPT
..................................................................................
106
6.3.2
EVALUATION
INFORMATION
FUSION
...............................................................
108
6.3.3
EVALUATION
FUSION
METHODS
IN
COMBINATION
WITH
RF
.........................
112
6.4
CONCLUSION
..........................................................................................................
116
7
CONCLUSION
...................................................................................................................
117
BIBLIOGRAPHY
.......................................................................................................................
121
A
APPENDIX
......................................................................................................................
137
|
| any_adam_object | 1 |
| author | Nguyen, Tuan Tran |
| author_GND | (DE-588)1193942438 |
| author_facet | Nguyen, Tuan Tran |
| author_role | aut |
| author_sort | Nguyen, Tuan Tran |
| author_variant | t t n tt ttn |
| building | Verbundindex |
| bvnumber | BV046254544 |
| classification_rvk | ZO 4660 |
| ctrlnum | (OCoLC)1137821706 (DE-599)DNB1187534978 |
| discipline | Maschinenbau / Maschinenwesen Verkehr / Transport |
| format | Book |
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| genre | (DE-588)4113937-9 Hochschulschrift gnd-content |
| genre_facet | Hochschulschrift |
| id | DE-604.BV046254544 |
| illustrated | Illustrated |
| indexdate | 2024-07-10T08:39:40Z |
| institution | BVB |
| institution_GND | (DE-588)1043386068 |
| isbn | 9783658269487 3658269480 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-031632690 |
| oclc_num | 1137821706 |
| open_access_boolean | |
| owner | DE-83 |
| owner_facet | DE-83 |
| physical | XIX, 164 Seiten Illustrationen, Diagramme |
| publishDate | 2020 |
| publishDateSearch | 2020 |
| publishDateSort | 2020 |
| publisher | Springer Fachmedien Wiesbaden GmbH |
| record_format | marc |
| series | AutoUni-Schriftenreihe |
| series2 | AutoUni-Schriftenreihe |
| spelling | Nguyen, Tuan Tran Verfasser (DE-588)1193942438 aut A reliability-aware fusion concept toward robust ego-lane estimation incorporating multiple sources Tuan Tran Nguyen Wiesbaden Springer Fachmedien Wiesbaden GmbH [2020] XIX, 164 Seiten Illustrationen, Diagramme txt rdacontent n rdamedia nc rdacarrier AutoUni-Schriftenreihe Band 140 Zuverlässigkeit (DE-588)4059245-5 gnd rswk-swf Maschinelles Lernen (DE-588)4193754-5 gnd rswk-swf Multisensor (DE-588)4257775-5 gnd rswk-swf Umweltmodell Informatik (DE-588)4250471-5 gnd rswk-swf Datenfusion (DE-588)4582612-2 gnd rswk-swf Fahrstreifen (DE-588)4016310-6 gnd rswk-swf Fahrbahn (DE-588)4153537-6 gnd rswk-swf Autonomes Fahrzeug (DE-588)7714938-5 gnd rswk-swf Dempster-Shafer-Theorie (DE-588)4395834-5 gnd rswk-swf Fahrstabilität (DE-588)4140195-5 gnd rswk-swf Paperback / softback COM004000 UYQ Classification Dempster–Shafer Theory Ego-Lane and Estimation Intelligent Vehicles Learning Reliability Multi-Source Fusion Neural Networks Random Forests Reliability Reliability-Aware Fusion Road Detection Robust Ego-Lane Estimation COM021030 TEC037000 UNF C SCT11014: Computational Intelligence SCI18030: Data Mining and Knowledge Discovery SCI21050: Robotics SUCO11647: Engineering 1681: Hardcover, Softcover / Technik/Allgemeines, Lexika (DE-588)4113937-9 Hochschulschrift gnd-content Autonomes Fahrzeug (DE-588)7714938-5 s Fahrbahn (DE-588)4153537-6 s Fahrstreifen (DE-588)4016310-6 s Fahrstabilität (DE-588)4140195-5 s Umweltmodell Informatik (DE-588)4250471-5 s Multisensor (DE-588)4257775-5 s Datenfusion (DE-588)4582612-2 s Dempster-Shafer-Theorie (DE-588)4395834-5 s Maschinelles Lernen (DE-588)4193754-5 s Zuverlässigkeit (DE-588)4059245-5 s DE-604 Springer Fachmedien Wiesbaden (DE-588)1043386068 pbl Erscheint auch als Online-Ausgabe 978-3-658-26949-4 AutoUni-Schriftenreihe Band 140 (DE-604)BV035728696 140 X:MVB text/html http://deposit.dnb.de/cgi-bin/dokserv?id=2d712ee2bf594f16b515d4f932fb118c&prov=M&dok_var=1&dok_ext=htm Inhaltstext X:MVB http://www.springer.com/ DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=031632690&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Nguyen, Tuan Tran A reliability-aware fusion concept toward robust ego-lane estimation incorporating multiple sources AutoUni-Schriftenreihe Zuverlässigkeit (DE-588)4059245-5 gnd Maschinelles Lernen (DE-588)4193754-5 gnd Multisensor (DE-588)4257775-5 gnd Umweltmodell Informatik (DE-588)4250471-5 gnd Datenfusion (DE-588)4582612-2 gnd Fahrstreifen (DE-588)4016310-6 gnd Fahrbahn (DE-588)4153537-6 gnd Autonomes Fahrzeug (DE-588)7714938-5 gnd Dempster-Shafer-Theorie (DE-588)4395834-5 gnd Fahrstabilität (DE-588)4140195-5 gnd |
| subject_GND | (DE-588)4059245-5 (DE-588)4193754-5 (DE-588)4257775-5 (DE-588)4250471-5 (DE-588)4582612-2 (DE-588)4016310-6 (DE-588)4153537-6 (DE-588)7714938-5 (DE-588)4395834-5 (DE-588)4140195-5 (DE-588)4113937-9 |
| title | A reliability-aware fusion concept toward robust ego-lane estimation incorporating multiple sources |
| title_auth | A reliability-aware fusion concept toward robust ego-lane estimation incorporating multiple sources |
| title_exact_search | A reliability-aware fusion concept toward robust ego-lane estimation incorporating multiple sources |
| title_full | A reliability-aware fusion concept toward robust ego-lane estimation incorporating multiple sources Tuan Tran Nguyen |
| title_fullStr | A reliability-aware fusion concept toward robust ego-lane estimation incorporating multiple sources Tuan Tran Nguyen |
| title_full_unstemmed | A reliability-aware fusion concept toward robust ego-lane estimation incorporating multiple sources Tuan Tran Nguyen |
| title_short | A reliability-aware fusion concept toward robust ego-lane estimation incorporating multiple sources |
| title_sort | a reliability aware fusion concept toward robust ego lane estimation incorporating multiple sources |
| topic | Zuverlässigkeit (DE-588)4059245-5 gnd Maschinelles Lernen (DE-588)4193754-5 gnd Multisensor (DE-588)4257775-5 gnd Umweltmodell Informatik (DE-588)4250471-5 gnd Datenfusion (DE-588)4582612-2 gnd Fahrstreifen (DE-588)4016310-6 gnd Fahrbahn (DE-588)4153537-6 gnd Autonomes Fahrzeug (DE-588)7714938-5 gnd Dempster-Shafer-Theorie (DE-588)4395834-5 gnd Fahrstabilität (DE-588)4140195-5 gnd |
| topic_facet | Zuverlässigkeit Maschinelles Lernen Multisensor Umweltmodell Informatik Datenfusion Fahrstreifen Fahrbahn Autonomes Fahrzeug Dempster-Shafer-Theorie Fahrstabilität Hochschulschrift |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=2d712ee2bf594f16b515d4f932fb118c&prov=M&dok_var=1&dok_ext=htm http://www.springer.com/ http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=031632690&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV035728696 |
| work_keys_str_mv | AT nguyentuantran areliabilityawarefusionconcepttowardrobustegolaneestimationincorporatingmultiplesources AT springerfachmedienwiesbaden areliabilityawarefusionconcepttowardrobustegolaneestimationincorporatingmultiplesources |