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Multi-vehicle detection with identity awareness using cascade Adaboost and Adaptive Kalman filter for driver assistant system.

ABSTRACT: Vision-based vehicle detection is an important issue for advanced driver assistance systems. In this paper, we presented an improved multi-vehicle detection and tracking method using cascade Adaboost and Adaptive Kalman filter(AKF) with target identity awareness. A cascade Adaboost classifier using Haar-like features was built for vehicle detection, followed by a more comprehensive verification process which could refine the vehicle hypothesis in terms of both location and dimension. In vehicle tracking, each vehicle was tracked with independent identity by an Adaptive Kalman filter in collaboration with a data association approach. The AKF adaptively adjusted the measurement and process noise covariance through on-line stochastic modelling to compensate the dynamics changes. The data association correctly assigned different detections with tracks using global nearest neighbour(GNN) algorithm while considering the local validation. During tracking, a temporal context based track management was proposed to decide whether to initiate, maintain or terminate the tracks of different objects, thus suppressing the sparse false alarms and compensating the temporary detection failures. Finally, the proposed method was tested on various challenging real roads, and the experimental results showed that the vehicle detection performance was greatly improved with higher accuracy and robustness.

SUBMITTER: Wang B

PROVIDER: S-EPMC5351863 | biostudies-literature |

REPOSITORIES: biostudies-literature

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Project description:Purpose: Driving fatigue has become one of the important causes of road accidents, there are many researches to analyze driver fatigue. EEG is becoming increasingly useful in the measuring fatigue state. Manual interpretation of EEG signals is impossible, so an effective method for automatic detection of EEG signals is crucial needed. Method: In order to evaluate the complex, unstable, and non-linear characteristics of EEG signals, four feature sets were computed from EEG signals, in which fuzzy entropy (FE), sample entropy (SE), approximate Entropy (AE), spectral entropy (PE), and combined entropies (FE + SE + AE + PE) were included. All these feature sets were used as the input vectors of AdaBoost classifier, a boosting method which is fast and highly accurate. To assess our method, several experiments including parameter setting and classifier comparison were conducted on 28 subjects. For comparison, Decision Trees (DT), Support Vector Machine (SVM) and Naive Bayes (NB) classifiers are used. Results: The proposed method (combination of FE and AdaBoost) yields superior performance than other schemes. Using FE feature extractor, AdaBoost achieves improved area (AUC) under the receiver operating curve of 0.994, error rate (ERR) of 0.024, Precision of 0.969, Recall of 0.984, F1 score of 0.976, and Matthews correlation coefficient (MCC) of 0.952, compared to SVM (ERR at 0.035, Precision of 0.957, Recall of 0.974, F1 score of 0.966, and MCC of 0.930 with AUC of 0.990), DT (ERR at 0.142, Precision of 0.857, Recall of 0.859, F1 score of 0.966, and MCC of 0.716 with AUC of 0.916) and NB (ERR at 0.405, Precision of 0.646, Recall of 0.434, F1 score of 0.519, and MCC of 0.203 with AUC of 0.606). It shows that the FE feature set and combined feature set outperform other feature sets. AdaBoost seems to have better robustness against changes of ratio of test samples for all samples and number of subjects, which might therefore aid in the real-time detection of driver fatigue through the classification of EEG signals. Conclusion: By using combination of FE features and AdaBoost classifier to detect EEG-based driver fatigue, this paper ensured confidence in exploring the inherent physiological mechanisms and wearable application.

Dataset Information

Multi-vehicle detection with identity awareness using cascade Adaboost and Adaptive Kalman filter for driver assistant system.

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