| Author | Nguyen Chanh Nghiem |
| Call Number | AIT Thesis no.ISE-07-24 |
| Subject(s) | Intelligent Vehicle Highway Systems
|
| Note | A thesis submitted in partial fulfillment of the requirements for the
degree of Master of Engineering in
Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-07-24 |
| Abstract | Static and dynamic obstacles detection is an important part of an autonomous driving system. However, vehicles detection for an intelligent vehicle is a challenging task. The thesis proposes an objects recognition system following the two steps of hypothesis generation and hypothesis verification. In hypothesis generation, a road region of interest from an image frame is segmented and horizontal and vertical edge maps are computed. Locations of vehicles are then hypothesized and verified by a classifier. Gabor features are extracted from subwindows of the hypothesized image and are input to the classifier to perform binary classification. Two types of classifiers, AdaBoost and SVM classifiers are studied in the thesis. From a large set of Gabor features, 100 features are selected by AdaBoost to build a strong classifier. A boosted SVM classifier is also trained on selected features. AdaBoost and boosted SVM classifiers both have high classification rate with the testing image set. The results show that hypothesis generation is largely dependent on the lighting condition of the road. The design of subwindows and Gabor feature extraction from different subwindows provide useful features for the classifier. AdaBoost is chosen as the classifier for hypothesis verification and is very suitable for the problem |
| Year | 2007 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-07-24 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun; |
| Examination Committee(s) | Afzulpurkar, Nitin V.;Dailey, Matthew; |
| Scholarship Donor(s) | MOET, Vietnam;Asian Institute of Technology Fellowship; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2007 |