Embedded Tracking System for Ground Moving Vehicle

To validate the accuracy and reliability of onboard sensors for object detection and localization in driver assistance, as well as autonomous driving applications under realistic conditions (indoors and outdoors), a novel tracking system is presented. This tracking system is developed to determine the position and orientation of a slow-moving vehicle (e.g. car during parking maneuvers), independent of the onboard sensors, during test maneuvers within a reference environment. One requirement is a 6 degree of freedom (DoF) pose with a position uncertainty below 5 mm (3σ), an orientation uncertainty below 0.3° (3σ) at a frequency higher than 20 Hz, and a latency smaller than 500 ms. To compare the results from the reference system with the vehicle’s onboard system, a synchronization via Precision Time Protocol (PTP) and a system interoperability to Robot Operating System (ROS) is implemented. The developed system combines motion capture cameras mounted in a 360° panorama view set-up on the vehicle with robotic total stations. A point cloud of the test site serves as a digital twin of the environment, in which the movement of the vehicle is simulated. Results have shown that the fused measurements of these sensors complement each other, so that the accuracy requirements for the 6 DoF pose can be met, while allowing a flexible installation in different environments.

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Embedded Tracking System for Ground Moving Vehicle

Journal of Engineering Science and Military Technologies ◽

10.21608/ejmtc.2017.21666 ◽

2017 ◽

Vol 17 (17) ◽

pp. 1-6

Author(s):

Bahaaeldin Abdelaty ◽

Ahmed Ouda ◽

Yehia Elhalwagy ◽

Gamal Elnashar

Keyword(s):

Tracking System ◽

Moving Vehicle

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Moving Camera-Based Object Tracking Using Adaptive Ground Plane Estimation and Constrained Multiple Kernels

Journal of Advanced Transportation ◽

10.1155/2021/8153474 ◽

2021 ◽

Vol 2021 ◽

pp. 1-15

Author(s):

Tao Liu ◽

Yong Liu

Keyword(s):

Object Tracking ◽

Moving Objects ◽

Intelligent Transportation System ◽

Tracking System ◽

Ground Plane ◽

Estimation Algorithm ◽

Moving Camera ◽

Moving Vehicle ◽

Multiple Kernel ◽

Yaw Angle

Moving camera-based object tracking method for the intelligent transportation system (ITS) has drawn increasing attention. The unpredictability of driving environments and noise from the camera calibration, however, make conventional ground plane estimation unreliable and adversely affecting the tracking result. In this paper, we propose an object tracking system using an adaptive ground plane estimation algorithm, facilitated with constrained multiple kernel (CMK) tracking and Kalman filtering, to continuously update the location of moving objects. The proposed algorithm takes advantage of the structure from motion (SfM) to estimate the pose of moving camera, and then the estimated camera’s yaw angle is used as a feedback to improve the accuracy of the ground plane estimation. To further robustly and efficiently tracking objects under occlusion, the constrained multiple kernel tracking technique is adopted in the proposed system to track moving objects in 3D space (depth). The proposed system is evaluated on several challenging datasets, and the experimental results show the favorable performance, which not only can efficiently track on-road objects in a dashcam equipped on a free-moving vehicle but also can well handle occlusion in the tracking.

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Design and Development of Smart Fleet System using Global Positioning System

International Journal of Engineering and Advanced Technology - Regular Issue ◽

10.35940/ijeat.c4751.029320 ◽

2020 ◽

Vol 9 (3) ◽

pp. 1416-1419

Keyword(s):

Embedded System ◽

Global Positioning System ◽

Tracking System ◽

Positioning System ◽

Gps Receiver ◽

Moving Vehicle ◽

Current Location ◽

Global Positioning ◽

The Status ◽

Driver Circuit

Now a days, Vehicle tracking system plays a major role in our daily life. As the technology grows, vehicle thefts are increasing enormously. This paper proposes to design an embedded system which is used to track and position any vehicle by using Global Positioning System (GPS) and Global system for mobile communication (GSM). This helps in monitoring and reporting the status of the moving Vehicle on demand continuously. So, ATMEGA328 microcontroller is serially interfaced to a GSM Modem and GPS Receiver through serial communication protocol RS 232. In this, driver circuit is used to covert TTL voltages into RS 232 voltage levels. Identifying the position of the remote vehicle is done by GPS modem continuously. The current location details like vehicle longitudes and latitudes of the remote vehicle is sent through GSM modem. The output is acquired from GPS modem and displayed on the LCD display. The same data is transmitted to the mobile at the other end from where the position of the vehicle is demanded. Based on the request placed by the user, the position of the vehicle is automatically sent to the corresponding mobile number. So, this project has been implemented to identify lost vehicle, know the status of moving vehicle from remote location and send the information to the user's mobile number.

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The Moving Vehicle Detection and Tracking System Based on Video Image

2013 Third International Conference on Instrumentation, Measurement, Computer, Communication and Control ◽

10.1109/imccc.2013.283 ◽

2013 ◽

Author(s):

Hu Huijie ◽

XuChao ◽

ZhaoJun ◽

GaoWenjun

Keyword(s):

Tracking System ◽

Vehicle Detection ◽

Video Image ◽

Moving Vehicle ◽

Detection And Tracking ◽

Vehicle Detection And Tracking ◽

Moving Vehicle Detection

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Highly Accurate Pose Estimation as a Reference for Autonomous Vehicles in Near-Range Scenarios

Remote Sensing ◽

10.3390/rs14010090 ◽

2021 ◽

Vol 14 (1) ◽

pp. 90

Author(s):

Ursula Kälin ◽

Louis Staffa ◽

David Eugen Grimm ◽

Axel Wendt

Keyword(s):

Autonomous Vehicles ◽

Tracking System ◽

Autonomous Driving ◽

Test Site ◽

Moving Vehicle ◽

Precision Time ◽

System Interoperability ◽

Reference Environment ◽

Onboard System ◽

Detection And Localization

To validate the accuracy and reliability of onboard sensors for object detection and localization for driver assistance, as well as autonomous driving applications under realistic conditions (indoors and outdoors), a novel tracking system is presented. This tracking system is developed to determine the position and orientation of a slow-moving vehicle during test maneuvers within a reference environment (e.g., car during parking maneuvers), independent of the onboard sensors. One requirement is a 6 degree of freedom (DoF) pose with position uncertainty below 5 mm (3σ), orientation uncertainty below 0.3° (3σ), at a frequency higher than 20 Hz, and with a latency smaller than 500 ms. To compare the results from the reference system with the vehicle’s onboard system, synchronization via a Precision Time Protocol (PTP) and system interoperability to a robot operating system (ROS) are achieved. The developed system combines motion capture cameras mounted in a 360° panorama view setup on the vehicle, measuring retroreflective markers distributed over the test site with known coordinates, while robotic total stations measure a prism on the vehicle. A point cloud of the test site serves as a digital twin of the environment, in which the movement of the vehicle is visualized. The results have shown that the fused measurements of these sensors complement each other, so that the accuracy requirements for the 6 DoF pose can be met while allowing a flexible installation in different environments.

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