Obstacles Detection for Intelligent Vehicle based on WTMM and SVM Classifier

Shen Zhi-Xi; Huang Xi-Yue; Quan Xun-Bao; Li Xiao-Wei

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Obstacles Detection for Intelligent Vehicle based on WTMM and SVM Classifier

更新时间：2023-11-28

- Obstacles Detection for Intelligent Vehicle based on WTMM and SVM Classifier
- Advanced Engineering Sciences Vol. 40, Issue 6, Pages: 144-149(2008)
- 作者机构：
  
  重庆大学自动化学院
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Published：2008，
  
  Published Online：28 June 2008，
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沈志熙,黄席樾,权循宝,李晓伟.基于小波模极大值和SVM的智能车辆障碍物检测[J].工程科学与技术,2008,40(6):144-149.

Shen Zhi-Xi, Huang Xi-Yue, Quan Xun-Bao, et al. Obstacles Detection for Intelligent Vehicle based on WTMM and SVM Classifier. [J]. Advanced Engineering Sciences 40(6):144-149(2008)
沈志熙,黄席樾,权循宝,李晓伟.基于小波模极大值和SVM的智能车辆障碍物检测[J].工程科学与技术,2008,40(6):144-149. DOI：

Shen Zhi-Xi, Huang Xi-Yue, Quan Xun-Bao, et al. Obstacles Detection for Intelligent Vehicle based on WTMM and SVM Classifier. [J]. Advanced Engineering Sciences 40(6):144-149(2008) DOI：

摘要

中文摘要: 针对复杂交通场景中智能车辆前向障碍物检测问题，本文根据障碍物的后视视觉特征，提出了一种基于小波模极大值和支持向量机的障碍物检测方法。首先，利用小波变换对奇异信号的多尺度分析，并结合障碍物先验知识的多特征组合，对候选障碍物区域进行检测；然后，构建了一种适合于交通场景中障碍物分类的二叉树支持向量机(BT-SVM)多类分类器，对候选障碍物区域进行确认识别。将该方法应用于高速公路、城区道路等多种交通场景中，实车实验结果表明了本文方法的有效性、实时性和通用性。

Abstract

Abstract:To detect forward obstacles for intelligent vehicle in complex taffic scenes

a novel obstacle detection method based on wavelet transform module maximum (WTMM) and support vector machine (SVM) was presented

considering obvious rear visual features of forward obstacles. Firstly

the candidate regions of obstacle (ROIs) were detected based on multi-scale singularity analysis with WTMM and multi-features combination of obstacle knowledge. Then

these ROIs were recognised based on a compatible binary tree support vector machine (BT-SVM) classifier for obstacle pattern of traffic scenes. Applied the proposed method to different traffic scenes (e.g.

simply structured highway

complex urban street)

the online experiment results show the efficient

real-time and universale ability.

关键词

智能车辆障碍物检测小波模极大值支持向量机复杂交通场景

Keywords

Intelligent vehicleObstacle detectionWavelet transform module maximumSVMComplex traffic scenes

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