Localizing occluded object is a long-term challenge in Advanced Driving Assistant System (ADAS) and autonomous driving research. In this paper, we propose a novel graph-matching based approach that leverages the challenge by adopting the deep learning and multiple-view geometry analysis. Specifically, the 3D scene reconstruction is firstly built by associating the comprehensive graph representations of the multiple-view observations, incorporated with the spatial relationship of the co-visible objects so as their discriminant appearance features. Followed by, the localization for occluded object is achieved by inferring from the reconstructed 3D geometry. We conduct experiments to validate the system in connected vehicular platform in the advanced traffic simulation dataset. The experimental results convincingly indicate the effectiveness of the proposed system in real- time object detection, graph generation, matching and location inference for occluded objects.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Collaborative Localization for Occluded Objects in Connected Vehicular Platform


    Contributors:
    Guo, Rui (author) / Lu, Hongsheng (author) / Gao, Peng (author) / Zhang, Ziling (author) / Zhang, Hao (author)


    Publication date :

    2019-09-01


    Size :

    3020686 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    COLLABORATIVE SAFETY FOR OCCLUDED OBJECTS

    TEISSIER GIL / ADERUM TOBIAS | European Patent Office | 2020

    Free access

    SYSTEMS AND METHODS FOR DISTRIBUTED COOPERATIVE LOCALIZATION IN A CONNECTED VEHICULAR PLATFORM

    ASHOUR MAHMOUD / GUO RUI / SAKR AHMED H et al. | European Patent Office | 2022

    Free access

    Systems and methods for distributed cooperative localization in a connected vehicular platform

    ASHOUR MAHMOUD / GUO RUI / SAKR AHMED H et al. | European Patent Office | 2023

    Free access

    DETECTING OCCLUDED OBJECTS USING SOUND

    CHEBIYYAM VENKATA SUBRAHMANYAM CHANDRA SEKHAR / OYSGELT ALEKSANDR / SUBASINGHA SUBASINGHA SHAMINDA et al. | European Patent Office | 2021

    Free access

    Detecting occluded objects using sound

    CHEBIYYAM VENKATA SUBRAHMANYAM CHANDRA SEKHAR / OYSGELT ALEKSANDR / SUBASINGHA SUBASINGHA SHAMINDA et al. | European Patent Office | 2023

    Free access