Intelligent autonomous vehicles 1995 : a postprint volume from the 2nd IFAC Conference, Helsinki University of Technology, Espoo, Finland, 12-14 June 1995

396 Pages·1995·32.189 MB·English

by  Aarne Halme, K Koskinen

INTELLIGAEUNTTO NOMOUS
VEHICL1E9S9 5
AP ostvporlifunrmttoe hm 2e nI dF ACCo nference,
HelsUniinvkeior Tfse icthyn EoslpoFogioyn,,l and,
12 June
- 14 1995
Editbeyd
A.HALME
HelsUinnikvie rosfT iecthyn olEosgpyoF,oni ,l and
and
K.K OSKINEN
TechniRceaslce haC rentofrF ei nlEaspnodo,F, ni land
Publisfohret dh e
INTERNATIONALF EDERATIOONF AUTOMATICC ONTROL
by
PERGAMON
AnI mprionfEt l sevSiceire nce
UK ElseSvciieern cTeh BeLo tudl,e LvaanrgdfL,oan reKd, i dlinOgxtfooOnrXd,5, ! GB, UK
USA ElseSvciieerIn ncce. W,h ite PlaTianrsr yRNtoeoawwYd no,,r k USA
660 150915-35,1
JAPAN ElseSvciieerJn acpeTa snu,n asBhuiimlaAd ninnegx , YushiBmuan,k yoT-okkuy,o Japan
3-2102- 113,
Copyrigh1t99© 5I FAC
AlRli ghts ReNsoep rvaerdot.ft hipsu blicmaatyib oern e produscteodri,en ad r etriseyvsatloe rm
transmiinta tneyfd o romrb ya nym eanse:l ectreolneicct,r omsatganteittcai,pc me e,c hanical,
photocopryeicnogr,do iron tgh erwwiisteh,op uetr misisniw orni tfirnogtm h ceo pyrihgohltd ers.
Firesdti ti1o99n5
LibraorfyC ongreCsast alogiinPn ugb licaDtaitoan
A catalroegcuofoerrt d h bioso ikas v ailfraobmt lhLeei broafCr oyn gress
BritiLsihb raCrayt aloguiinPn ugb licaDtaitoan
A catalogufoert hrbieosco oikars vd a ilfarbotmlh eBe r itish Library
ISB0N -08-034 2366
Thivso luwmaes r eprodubcym eeda nosft hpeh oto-opffrsoecteu sssi tnhgme a nuscrsiupptpslb iye dt he
authoorfts h deif efrepnatp erTsh.em anuscrhiapvbtees e tny puesdi ndgi ffetryepnetw raintde rs
typefaTcheels a.y -fioguutr,ae nsd t abloefss o mpea pedrisnd o atg receo mplewtietlthyh s et andard
requiremceonntsse:q utehnrete lpyr odudcoteinsoo ndt i spcloamyp luentief ormTioet nys.u rraep id
publictahtiidsoin s crepcaonuclnydo b te c hangendo:rc o ultdhE en glibsech h eckceodm pletely.
Thereftohrreee ,a dearrsae s kedex cusaen yd eficienocfti heipssu blicwahtiicomhna yb ed uet ot he
to
abovmee ntiorneeads ons.
TheE ditors
PrintineG dr eaBtr itain
2ndI FACCO NFERENCOEN INT ELLIGENATU TONOMOUS
VEIIlCLES
Sponsorbeyd
IFAC-InternationalF ederation ofA utomaticC ontrol
TC on IntelligenAtu tonomous Vehicles
TC onA erospace
Organisbeyd
The FinniSsochi etyo fA utomation
The FinniAsuht omatioSnu pport
12 Ltd.
Asemaaalpliko nkatu C
FlN-00520
Helsinki
Finland
[phone]
phone:
telef+ax3 :5 081 4646641 5 0
e-maialtufin@:i bm.net
InternatPiroongarla mCmoem mitt(eIeP C)
Prof. A.H alme Chairman Prof. A.Prc umont
(FIN), (B)
H.A sama( JPN) Prof. IngU.. R embold
(D)
Dr. J.OGr.a y (GB) Prof.Dr M.. GR.od d (GB)
Prof.C .JH.a rri(s GB) Prof. M.S alichs
(E)
Prof.
R.AJ.arv is( AUS) Prof.T .T anabe( JPN)
Prof.
P.La wrence (CDN) Prof. Vacherand
(F)
ProfJ.. LN.e vin(sU SA) Prof.AF. .We mersso(nS )
DrPro.f. A.A.P etrov( RF)
NationOarlg anisCionmgm itt(eNeO C)
KoskineCnh,airman Rintanen
Kari Kari
AameHaline Jussi Suomela
MarkkuK ivikoski Pirjo Venfilfilnen, Secretary
Hannu Lehtinen
FOREWORD
The IAV'9C5o nfereinssc eec oinntd h see risetartse di nS outhamipnst porni ng
1993. arTehaoe f i ntellaiugteonnto mvoeuhsi colrre osbo thsa st urneodu t
lively andbo tehix ntce hnaslilveean pgpilnigc atiwoenlaslsi nt hseo urcoef
theoredtiecvaell opTmheenrtare.e p resesnetvlasey sr traelam si na utomation
technowlhoigcbyhr idnegv elopimnte hnseta mdei recMtiaonny.tra ditional
workinmga chianleresa udsyed l oneg. ign.c onstructimoinn,i onrag g riculture,
gointgh roucghha ngteobes c omree motely oorpe evreaanut teodn omous.
Tare echnolhoagmsya dteh ifesa siabnlmdea chiunseel rsi kteoi mproveeffi ciency
byt akinugs oef a dvanccoemdp uctoenrtro sly steomfts h weo rksiatneo.t her
traditiofinealltd h,ae u tomoitinvdeu shtraysp umtu che fforti ndIn e veloping
percepatinodcn o ntrosly stetmoms a kteh modee rn carm orsea faen eda siteor
operaAtuet.o nomodriuvsi nign cecrtaionn ditiiosanr se altiarstigicen tt hnee ar
futureT.h es trongedsetv elopimnroe bontitc si sg oiongni na pplicoautitosnisd e
thtrea ditimoannaulfa ctuirnidnugs Strye.r vimcaei,n tenoapnecrea,ti ionn s
hostile envigruoarndmieenntgtc as.r,,ee x ampolfea sr ewahse rper ototype
robothsa vael reabedeyn d eveloLpeadsb.tu nto lte asspta ecxep lorsahtioounl d
bem entionFeudt.u srpea cper ogramlmieksMe,a resx plorawtiiloln ,r ely
strongolnmy o birloebo tisn stoefaa sdtr onauts.
Itis i mportatnhta gte nemriect hodasn dte chnolfoorag liIAle sVs ubsysatse ms
welalss peciafipcp licaatrideoe nvse loipnae gdo odb alanTcheep. r esent
conferiennccleus deesss ioonvn iss iaonndn on-vibsaisoepnde rceprtoiuotne,
andm otiopnl annimnogti,o cno ntrolloc,a lisaantdin oanv igatteicohnn iques,
andm an machine inSteevrfeatrcyaeplsoe .fsa pplicafrtoimao untnsoo mous
roavde hictlooe ffs- road wmoarckhiinangre rese portDeedv.e lopmienn ts
mobilaintdly o comootifor no botarse c onsideesrpeedc iiansl elsys ioonn s
walking ancdl imbmiancgh inTehses. e ssion on smyuslttieprmroosvbo itda ens
interesntienwdg i menstiodo env eIloApVt echnoilnto hgfueyt ureO.n eo ft he
specpiaapler rse viemwosb irolboet sfo rp lanetary eaxnpadln oortaohtineoern
thdee velopomfve insti on-aguutiodneodmm ooubsis lyes teMmosr.te h a1n8 4
contribufrtoomr 1s8 c ountrwiielmsla ket hep rogramlmiev ealnyd
contribuItnic nogn.n ecwtiitothnh ceo nferetnhcfieer ,sc to mpetiotfi on
autonomionutse llviehgiecnlte bes o rganised.
will
TheI nternatPiroongarla mCmoem mitmteemeb erresv iewtehedp apers
submitttote hdce o nferaenndrc eec ogntihsheei dg qhu aloiftt yh emT.h e
commitatswe eel lt hNea tionOragla nisCionmgm itwtoeuell di ket htaoan lkl
authfoorrt sh eeifasr fo artn cdo llaboration.
AameHalme KarKio skinen
IPC Chairman NOCC hairman
Editor Editor
Copyri©g IhFtAICn telAluiotgneonmtoV uesh icles.
Espoo,Finl and, 1995
VEHICLE DETECTION AND RECOGNITION
IN GRE YSCALE IMAGERY
N.D.M ATTHEWS*, P.E.A N*:D . CHARNLEY* C.J.H ARRIS*
and
*U11.i11ersoiftS yo 11.tka.mtpo11.D,e pa.rtme11.otf E letcr11.oicsa. 11.dC omputeSrc imceH,a. mpskirUeK, -
11.dmOecs.soa.tco.11. . deO ecs.sota.oc11... cjh.Oecs.sa.oct.o 11..
11.k, 11.k, 11.k
**FloriAdta.l a.11.tUi11.ci 11ersiDteyp,a. rtmmotf O cea.11.E 11.gi11.eeriF11.lgo,r ida., -USeAa. 11.0oe.fa.11..ed11.
Thisp apedre taial nso vetlw o-stavgeeh icdleet ectiaonnd r ecognitailogno ritbhym
Abstract.
combinianng i magep rocessrienggi oonfi ntere(sRtO I)d esignattooc ru ea secondarreyc ognition
proceismsp lementuesdi npgr incicpoamlp onenatn alys(iPsC A)a si nputto a Multi-LayePreerdc ep­
tron( MLP)c lassifiBeort.ht hei magep rocesssiynsgt eamn dM LP classihfiaevre b eend esignfeodr
real-time implemaenndtd aattiao-nf uswiiotnho theirn formatisoonu rces.
Key Vehiclter,a ckianpgp licatiiomnsa,g er ecognitciloans,s ificerrusi,sc eo ntrol
Words.
1.In troduction igse nerpaolslstyiom b aslkea rewasi tthhien im­
agweh etrhee msaeyo ccaunrid it ps h ysiicma­lly
Thei ntrodoufnc etwtie ocnh notloro ogavidee ­s possfoirbv leeh itcobl eep sr esee.nagtb.,o tvhee
hicsluecashsi nteenlctlr iugciosneto rrco oll lision
hozroi.nP racteixcpaelr siuegngcees,t s as noted
avdoainscyes tneemcse ssahi itgdahet georsfre oe­
by( Kueh1n99l1Ye;ou, n egat ,l 1 .99t2h)ga rto up­
busstsan nerde liaWbhiillaiscttcy u.rr aantegese ­
inogfhs o rizeodngaterasaels ignicfiucfoearr n et­
timamtaeys r beec ovuesricenodgn vensteino­nal
gioonfis n te(rReIOs' ts ) pwohtiecnchto inatlaliyn
sores.,mg i.l lirmaedttarhrie,cts yep iscuafflelry
vehicles.
fromb otlho bwe arriensgo launtpdio otne ntial
ambigutihtriofoeursge hx amfpallaesl ea .r ms
2.V2eh.i chloer izloonctaatli on
Thipsa pdeert aain losvte wlo -stagdee ­vehicle
tectainordne cognailtgioorbniy ct ohmmb iniAn dgi rectfiilotnearleldy gradiisee mn­t technique
ani mapgreo cersesgioinfoig nn te(rReOsdIte) s ­ploy(ebldeo twh aep proxhiomrai)tzb,eoy cn on­
ignattoco urae s econrdeacroyg npirtoicoensv so lvtihineng p ut girmeaygwseic tatlhwe o 33
implemuesnitpnergdi ncciopmpaolan neanlty smiassk ss,oa st og enehroartieI z aonnvdte axr lt ical
(PCAa)si nptuota M uil-tLayPeerrecde pterdognree sponasneds ,a te acphi xleolc a.t ion
(MLPc)ls asi.fi Tehrec ombinoafat nii onni tiTahlea bsomlhau gtneJi ,,to, ufd aensd arceo m­
detecpthiaosfneo ,l lbowyae r de cognpirtoi­opna rseotd h aotn ly wpiihtx ahe lsIs,,i gnhiofircia­nt
cehsasgs r eastilmyp ltihcfieles adsi dfieesr.iI gnn zonrteaslp aornrese et ained.
turnc lstashiepfi reeforr mahnacasel loswoemde
oft hiem apgreo ceassssiunmgp ttoib oern es­ Inp racmtainc-em oabdjee ec.tvgse.,h i,ec xl­es
laxwehdi,ml asitn taianh iignhg tsoin goniasleh ibais ttr onger edge" narteusorpboa­nls"e than
rat(iNSoR) B. otthh e ipmraogcee ssyssitnegmj ecHtesn.ca ena ,p proptreicahtnieits q ocu oen ­
andM LP clashsaivbfieee edrne sifogrnr eeda l­sidtehtreo thaolr izeodngrteea slp oovnessroe m e
timiem plemeanntddaa ttiao-nfu siootnh ewrRi OtIhr, a tthhearun s ianneg d gteh reds.Hh oowl­
sens,eo .rrgsa.n rgaen/rgaert ae dar. eveirti,s e xtredmieffilcytu odl etfi annea ppro­
priRaOtIte,h uasna smsputiiomsna dteh vaeth i­
cldeons o otv erilmaacpgo el usminfigscn aiyne t.lg.
(fi.g1 )t,ha isss umpitosfi toienmn p liinmc ainty
2.D etection
symmebtasreytd e chn(iKquueehs1n 99l1e),.
2.V1eh.i ccluee s
Applytihhneog r izoovnetrasalslau pm pteiaocnh,
Road-vechoimcplraeil ssa,ern guem boefhr o ri­imacgoel ummanyb ec onsideapr oedt enatsi al
zonsttarlu cetsupreecwsih,ae vlnil eywa epdp roxR­OIt os umo veFri.rl yst,th heo rizeodngtea l
imatfreolmty h ree a(rfi g1.)W .h iltshtea,rr ee respoinnes aeci hm acgoel uimssn u mmed and
other psootueroncfhte oisra ilz sotnrtuaciltt u rsem,o otwhietadth r ianfiglutlearr. vPeohtie-ntial
clleo catitohnesdn e rairfevr eoldmo camlaxliy­ clseh ad.Co ownsair doeatrde mpaltat thbeeo t­
maple awkhsi acrhee x trafcrtotemhsd em oothetdo omf t hoer igiimnaagwleh ,op siex gerle eyllse v
colurmens poinnds eecssrin egoa rdweirta,hn a d­ araess umteodb l eontgoa G aussdiiasnut triiobn.
diticoonnaslt troda iisnctma arxdi wmhaic ahr e togewtihtsehor m eex trapniexobeulelsos n gtion g
tocol otsoae p revieoxutsrlayic .theei.dg ,h ere,.r go.a d maFroklilnog(wsCi.hna ugn Adg gar­
peaAkl.t hotuhgtihes c hnhiaqasun eu mboefr wal1,9 9t2h)e mµoe fat nhu end erlGyauisnsgi an
distriibseu qtuiiovna tloet nhcee dmo oftd hee
greylpeavteaclnht ,dh set anddaervdi atoifo n
O'
thuen dernloyrimdnaigls triibgsui tvbiey(on 1n )
O' = l:z:- µl/ln(4) (1)
wheriest hleo cawtiito5hn0 3o ft hmeo dal
:z:
respoPnisxiee.ntl hsoe r iggirneaylil meavigenel
threa n[gOe -:3 0'aµ)r ceo nsiadse rtdeouad e
potenutnirda-elvi ecshlhea dow.
Arsec aorsrpeondtioun ngrd -eveshhiacdlaoerw es
Fig. Detectecda ndidavteeh iccloel umns locabtyce odn sideearcpihon tge nvteihaillco l­e
1.
catiinotn u rPni.x weilts hagi inv ceann didate
limiteat.tigho.ten r si,a nfiglutsleuarpr p woirdtt h
image asrcteor nispi rdoebwry er do ws,t arting
antdh per oxicmointsyth raaviiemn ptl icfaotri ons
att hbeo ttooftm h iem agie.c,el .so stIe.mf ore
thpeo tesnitozifrea e lc ovReOIri,et de xitsr emely
pixoenla sng yi venw irtohawg i inv ceann didate
simptloie m pleamneidns t invtaocr aimaenrta
vehiicmlaesg'tesr a ircpeo nsitdobe ers ehda dow
pitcehi.wnghg.e, cn h anggienagr .
thanno n-sh,ta hdetonhwr eo iws i nterpasr eted
parto fa nu nd-evrehsihcaldeao nwtd h vee rtical
locationt hnbeoo ttetodoft m ha cesa ndidate ve­
2.V3eh.i cwlied th
hic(lfieg3 .)T .h ec andivdeahtileco lcea itsi on
Vehiwcildeit sdh e terfmrionamene d d gfeo llow­
intge chnaipqpulteio te hdhe o rizeodngrteea ­l
sponismea. gE edgaersle i nlkeeafdnt rd i gfrhotm
thcea ndivdeahtiheco lrei zpoonstiaotlnie oanc h
rouwn ttihlhe o rizeodngrteea slp dornosbpees ­
loawg ivtehnr esThhovele dh.iw cildietds he ter­
minbeydt hleet fmoasntrd i ghtlmionsektde gde
resppoinxs(eefil .g2s ) A.l thotuhsgti he chnique
Fig. Detecteudn der-vehsihcaldeo ws
3.
discairnfdo le odc actaibnoeo n b tations aeitds fy
thuen der-svheahdicocrwli et. e rion
24..V2eh.ci lheeg ihtO.b ovuis,tl oye xtraanc t
ROIfo rs ubseqculeanstsi afince asttiioimnsa te
requfiortreh ldeo caotfti hoteno opf vtehhei cle.
Fig2. .De tected candidatwei dvtehhsi cle Sintcheea rrneeo c onsicsuteaessn sto cwiiatthe d
av ehircoloaehf e uristict hiarste aoarfps p lied
wiolvle restthiveme ahtiweci ldietaf hl arhgoer ­
carsa naa prper oaxtiesmlqyu asrueb,jt eodc itg i­
izonfateatlu crreoss tshecesa ndivdeahtileco l­e
tisaHteinoctneh.v,e e hihcelieiges hq tvu ailenced
caotnii,np racittti ecnetd ous n rdeestitmhaet e
toi twsi datnhtd h utsht eo opft hvee himcalybe e
trhuoer izvoenhtiacll e eoxntlheyon rti zsoinntcael
estimfartotemhdv e e hiwcildaetn htd h leo cation
edgaersce o nsiwdheerreaedv a,es h ibcoluen dary
ofi tusn d-evrechlseih ad(ofiw4g .).
is usautaav lelryte idcgael.
2..4H .o3rnitzaeoldg cel usterWihniglt.sh te
vehivcelretl ioccaaldt eiroinfrv oemtd h uen rd­e
2.4Veh.ci lveet riclaolc ation
vehischlaedi osgw e nertaelmolprya sltlayb ilte ,
2.4U.nld.e ri-csvlaheeod hw.A ni mpaonrvtte ­ mayf awihle rno acdh aractdeirffigesrrte iactsl y
hicucluiaenrd yaliigmhatg iestr hyue n dveerh i-from tihnto hsteee mpplaatteceg.h d.,u teos had-
2
owcsa sbtyo vertvaekhiinTcghl eerse.afo rsee c­
onvde hivcelretl ioccaalat ligoonr hiastb heme n
deveeldbo,asp eodnh orizeodngctela uls tering.
A vehiclpea-hts mciazybe edd e finbeyad p p­ly
intgh sea masep ect hreautriiuoss tetdiod c e ­
ritvheve e hihcelieg( hste c2t..i4o2.Wn) i thai n
givceann divdeahtiec le 2s)tt hrveie ph i(cfilge.
vertlioccaalit sgi iovnbe ynt hmea ximhuomr i­Fig. ROI'sf orM LP classificati2o n
zonetdagle rseusmpmoonevsdeae rl v le hicle-s6i.z e -
patc(hfi.e4g s)A .l thotuhtgiehsc hnique generally
duteo r edundoafpn actytc eormnpe onntFse.a ­
tureex traicst ieaosnns epntrioaclet doru er­e
duce prtohbed liemme nsiwohnialrlesittta yi n­
intgh ree quSiNrRe.d t hIicnso m ibnedde tec­
tiorne/c ogsnyisttiaeho min g dhe gorfed ea trae ­
ducthiaoasnl rebaedeyn pebrytfo hriemne idt ial
imapgreo cesstsaignWegi. tt hh iinsfo rmation,
the cRoOnIs ibdyae c rleasds miafiybe erk eptto
ar easosniazgberl,ee ai tmlopyvr itnhgSe N Ra nd
enabalcicnugpr aatttece lrans siiofinc.a t
Fig. Detected candidatReO Iv'es(h,li ecfluten) d er­
4.
vehicslhea dow( righmtaxi)m al edger esponse
3.P2r.ci pniaclo pmoneannytas l{iPsC A)
findasr egciloonts oae v ehiictilns e oa ts tem­
Supspeto heirsaes eotfp tate{r:c n1s, }
porasltlayasb ltehu en der-svheahwdi.Soc ilnec e
wheriets h iet pha ttsetronir nte hds.e .e S.,:Ct ,Ma n, d
eacihm asgter wiipbl yld efinigteinoensr oamtee
isd e:Cfii ne[dx x0a1,.s,.. ,£ ]xi na L -dimensional
maximvuemr tpiactapcloh s itthieoirnse e axn­
pattsepranc Teo.a ppplryi ncciopmaplo nent
plirceiqtu irfeotmrhe cena/ trr ocaldas sifier.
anal(yPsCiAsa) na, u toorcrelmaattirRoi,n ix s,
formebdys ummitnhogeu tperro doufMc tpsta ­
terns
25..C lafisesirinu pt
Thec andiRdOIa'taesr dei lastleidgt hoet nl­y
R M :Ci:CiT (2)
sutrhea atnv ye hiiccslo em pleexttetrle.ayTd c he
=
L
ROIi st hen tsoc caoaln esdst iatznoemt a intain i=l
scailnev arfioatrnh ccele a esrsT.ih fisec aRlOeId A seotfL eigenv{e 1,cq torsa scsioated
siiz2se 0 20p ixteorl esd utchdeei mensionwailtRi hnt oywfo rmt hbeas io.sf.t, .hL }s eq e St. T he
x
oft hcel assificatainofuynr tphrreeourdbc l­esme,ot fe igen{vAa.1l,u. esd efiner etlhaet ive
tiiolsn i kteo"l oyv erscmaoerod tghae"nso d t herc orrelation. , >. ts}Lhi begas nioisffiR . c Aannyc e over
usuelff eat.uR rOIes'es xtraucstitenhdgue nd er­pattemranyb er epreseanl tiendce oamar­s
vehicle sha2d.o4aw.r s1e(h) so eiwcnnfit g5i. o nb ina:Cotift i hoeeni genvbeypc rteoocjrtsi onngt o
anRdO le'xst raucstihenodgr izeodngctela uls tetrhs­ep ascpea nbnyte hdbe a soiRf s w itp:Chri incipal
in(gs ec2t4.i.oa3nr)s e h oiwnn 6fi.g . components
a1.
(3)
The sperti noccfoi mppaoln {e n.t.s.,n ow
,a }L
Fig. ROI'sf orM LP classification foramnos r thorgeopnraels aef1n,ot trhap eta itotne rn
5.
:Ci.
Toe ffectaipvpePllCyyA o,n lys eotaf e igen­
3.R ecognition
vectwoirtdsho mainnt eigenvbaelr uee­s should
taintehdi,so nnlroyet de ustc hper obdliemme n­
3. 1D.i menasliirotenyd ucfteiaotenux/rter action
sionbaulatil tcsyaop n o telnlitymi partohvSeeN R
Pattcelrasns ifitcaasfotkirmso a nn iym aagpep li(­bryje cetitnhgne o icsoem potns.eT) nhes iozfe
catiaorgnees n ercaolnlsyid dieffircepudrl otb lemtshe ei genvseeictsgt eonre rparlolbydl eepme n­
becaoufts hease s ocihaitgdehid m enspiaotn­adle natn,cda bne conssimdaeltrlhaeaLbrin lt f yh e
tersnp aacnepd o osri gn-anlo-ritasote(i SoN R)p attceormnp onaerhneit gsch olerylr atTehdu.s ,
3
anpya ttZiec ranbn e a pproxitmoZia ted applicTahteMi LoPni ssc. h osaestn h cel assifier
fotrh sitsu dyt otd huheei gdhi mensioofn ality
l=N
the input space.
�i= (4)
I:l=a l1q1
3.3M.u1.l- tleiaryed pe­r
ceptro)n. T(hMemL uPl tyie-rplereadc eptron
3.2L.o1.cP aClA. Notteh atths ee otfe igenveucti­islneosn linearfu nscqtuitasoophn aisrn tgi tion
torcsa bne t reaatsae nde nocdidnegv iscuhec thpea ttsepranwc ietg hl ohbyaple rplanes. The
thaeta cohft he eigecnovnetcrtitoboaru nst eosr ienatnaidtn irtoceneo pftt h ehsyep earnpealsr e
orthopgaotntavelar rni aWthieotnnh .ee sieg ena­jdsuteuds iann go nlarig nreaddieesnct(e onrt
vectaorrdese ribvaseedod n a s ingle patbtaecrknp,r oiptoaspg taitmiiotsnea)ct hinoinq ue.
encocdaipnagb iisrl eisttyrt iotc htseep de cificity
oft hpea ttaenrtdnh ,ge e neralaibsiaslt tioit oiTneh ea rchitoefc MtauLnrP ne e twcoarbnke r e­
othpeart taerrleni skt eobl epy o odre spsihtaer ingga rdase d whereit sh nee twork
n0 ---+ n1 ---+ n2, n0
similloaccrah la rascttiecrsi. inpduitm ensiitosh nne,u mboefnr o dients h e
hiddelna yaenrn,id itsh neu mboefcr o mponents
Baseodn a ni mporotbasnetr voanmt ainroyon a d int hoeu tpluan2t y eTrh.ei nput-roeultaptuito n­
patttehratnths e sitra ticshtaircaacltt eernids sthiiocpfts h seq uasnhoidinentg h hei ddleanyi esr
tob es taatriiyo.,nae s .eo tfl ocaeliigseendv ecdteofirnasse d
definienads maldliemre ncsaibnoe un s etdor e­
constructp atthtbeey fr eonnr tmaiinrun egn ion n,
(J'i= WiX,jj+ µ i), (5)
ofl ocpaahlte c(sS an1g9e8r9T,)h .il so cPaClAi s
MjL:=l
genlelrmyao rreo bwuhsetrn e constarp utac­ting
terwnh hii csn ot S,it nh hiasbs ee nv eriifine dw heWri,eji st hhei ddneond e pawrhahim ecter
thaipsp licwahteiMro e=n 9,0 L, = 25,= 5. connecittsnh o dtihente h hei ddleanyae nrtd h e
N
Thiiss iamnp orptraeonrpttf yoc ra dre tectijotcnho mpoonfet nhiten pvuetc (tX o)j,r i iµ ts he
wherreea l-ctliamsesi afit(c naetfairroa)nrm aet eb iaasss ocwiiattthhei edt hhi ddneonda en fdi
isr equiArnee xda.pm loefs uclho caeliigseendd­ enotthieetsh h i dndoedno eu tpUustit.nh gri es­
vectoorer isg esnk(ms5a 5 p ixeclosrs)rp eondinlgat ioenaschhhii dpdn,eo ndp ea rtitthiieon npsu t
x
tot htee lnra geesitg endvealruifevrseon dmi netsyp awcieti hth sy peraplloawnnhgehi i ctasc tiva­
roacdai/rma ge(sfi 7g.). tiofunn chtaiasoc no nsotuatnptvu atl- uteh e
activfautnicoutnsi eodn icna rt/hcrailossas di fi­
catiitsoh nse i gmfouindc tBiyfo omnri.n ign puts
witthh hei ddneondo eu tptuhtiest ,nh e twork
outpcuantno wb ec ompuatse d
Yi= n1 Vi,j1f j, (6)
j=l :S: i:S: n2
L
Fig. Eigenmasks correstpoot nhdeit negn l argest
7. Becaoufsi etfl se xisbtlreu ctthuMerL eP,h as
eigenvaluiends e scendirnags,t eorr de.r
( ) beesnh owtnoh avuen eirvsaaplp roxicmaa­tion
pabi(lHiotry1n 9i9k1,) .
3.3P.a ttcelrafinsc saition
3.4Tr.a ining
Givaes ne t of epxrtorpafeecarttleuydcr re­ist,e
ria sfeolre cptrionpcgels ras ifiaercreos m monlCya r/riodnaetdi ficiapstr eifoornm beytd h MeL P
basoenBd a yesMiaaxni muAmP oste(rMiAoPr)iu sifnega teuxrtersa bcytl eodcP aClA fr oma
orM aximuLmi kel(iMhLop)or di ncsiotp hlaetsg ivsecna RlOeI(d fi 5ga .n 6d) T.oa votihdce o m­
thaev ereargrpeor ro baibmsii lniitmyAi n soend­.m onp robolfoe vrmefi ttirnagm/edptiraefdrtu teo
linienatre rpmoolda,eMt luilvteyi e-rPleeadr cepm­odelelriranongrmd e asurneomiesnetp, a tt­he
tro(nM LPi)fsr, qe uenutsletydoa pproxtihmea ttee rcanls siifisoe nrlt yr aionffie-ndlae n,hd e nce
postecarlsidsoi rs tribbceuatuoisfioe tn ns o nlini­trsa otfec onveriglsee nscse (ctrhioitff-sil cianle
ear mocdaepliallbii(ntRgyu ec tka l1.9,9 0A)l.­ condiotbivoinor uesqlutyih rteer sa ipnaitntge rns
thoutghhMe L Pi sg enerianplaplryo pforri atteob e trreuplryae tsie.vn et)
on-lcionneta rpoplalt iicobcneasu osfei ts slow
adaptparteoiscoasnn ndo n-usnoilquumteii no­n3 .4P.a1.r ameatdearp tatibcoapknr opaga­
imumi,tg enereaffilciisleeyins nat h igdhi men­tionB.ac kpropiasagn aotniloivnne erasorif o n
siosnpaalbc yem eanosfg lobally exgtreandtdi eebsnactase lingsto rwihtethrmhes e t esatdayt e
functwihoinicesshs, s teifnaolmr o sctl assificsaotliuootnfti hoienn pauntrdse siedruraaolrr leso -
4
calulnyc orrTehlceao tfseutdn .c ftoiproa nmr ea­
ARC 1 3·,t ••n:o:11.i.t,1.1Mt
teorp timiiscsao tmimoocnnh loyts oebn et hseu m
o. • • •··• :• 11 a
ofs quaerrerdbo saresod n L traisnaimnpgl es:
A E(�)2,w heEr(�e)= y*�)(- y�()i st he " . 0.. : . : ; � : : : : : : � " .
reI:s=�iedlrura aolnr yd,*( � )i st hdee sinreetdw ork
ouut.tp Byc onsidtehnreei gnagdt iirveec tions
oft hetirrgu rea ditehnpeta sr,a mcehtaenrg es
and cabne e xpreasss ed fJv
�;---==----c:-cc------=.,.,=-----==----7.0
fJw N...,_01 l•..wig 0,.:-
6v; fl L >�();f(p) (7)
L
I o " o t•<><>•t•t••&.,
p=l • •• •' ; :& .:. ..:. .
'
fJw·. fl L E(�);fIv(p)j:z: (8)
t,J L
L
p=l
wheriets h hei ddneodnne u mbBeyrc .o rrelating
wittihh i en pvuetc ,t oirterafotrimtvshe pelr yo ­
jectbiaossniu sct hhw ai tti sn terrenparle sentation� -�-- ��NulnNl'-Of�T•..wig�o,ici."" � "���
iso ptiimnta hlme e an-squared sense.
Fig8.. M LP classificatpieornf ormanucsei ngh idden
1
3.4C.ls2afis.ic atpeiforornma nec. Thes caled layearn d top hiddenno de,m iddlehid­
( ) 1 ( )
3
20x 2 0p ixReOlIi sp artiitni4to on exs du 4b ­ denn odesa nd bottom hiddenno des
( )5 - +:
patteearcnohsfs , i5 z ex p i5x( eLl 2s 5.L) ocal trainisnegt o;: v alidatsieotn; testisnegt .
x:
=
PCAi sp erforumseidtn hgee i gesnkm(safi g7.)
ont hien divsiudbupaalt tetrhnpesr ,i ncainopdta hloe frg sr eactoemrp leTxhiiitsssy u.rp sriing,
componentsw iatsthshfi oevc meio astdteo dm i­asi stu ggtehsattths e acnardro apda ttcearnn s
naneti genvaarcleou mepsu ted5 )f oera ch bes eparwaittaeh9 d 0 3c onfidleenvcueesl i ng
(N
oft hseu bpatTtheesr entsp .ro= i fn cciomp­paol as inlgilnehe yapre rpAldadniet.ni oonnelaailrn ­
nenftosra mt sar nsfopramtetde drinm e(n8)s0.i ointiynt hhey perdpoleansnoa etp petaoir m prove
Thetsrena forpmaetdt aerrtenh seu ns etdoa d aptt haev ereargrpeor ro babTihlimisit gybh.ete x­
thMeL Pn etwvoirbaka ckapgraotptioeo snt imaptlea ibnyte hdue s e tholefo cPaClAs ucthh at
thcea r/dreocaidbs oiuonrndy .a thfeea tureasb ehtaStvNeeRrg ivtehnse e otf
eigesnkm(safi g7.)a ,n adl stohd ei striobfu tion
480R Ol'cso ntaeiintihane gcr a orr a road theex isting pattern set.
segmweenrtee x trabcyht aendd from greylevel
imagetrhyew,se er pea rtitiinottnohe rndeo en ­Byc ompatrhipene gr formaamnocndegi fferent
oevrlapspuibnsgte rtasi:sn ei(tn2 g0p 0a ttse)r,n pattdeirsnt iroinabsnuo, tp tismeaotlfn etwork
validsae(tti8 po0an t nts,ea) rntde stsie(nt2g 0 0 paramceatbnee rc sh osaettn hp eo iwnhte trhee
patnts.e)T rhep attientr nhtser aisneitn gw ecrlea ssipfiecraftoirbomsanae nodcnt e hv ea ltiidoan
usetdou pdtaet hpea mreateirnbs ta cmho de,s ebte gtiond se ter(i1o0r,ac0ty0ec0fo l re1 sh id­
whertehapesa ttienrt nhvsea lidsaetti oinn ddeinn­o d9e,;0 c0y0c folreb so t3ha n5dh idden
catwehde onv etrtfiing tsoot cacr(utSorejb de rgn od.eT sh)mei sscsliaficoafct aairon rndo apda t­
anLduj ng1,99 2T)h.ep a ttientr hntese stsientg t erwnasas l esvoa lutaoet nesdtu hraett hc els asi­
were uessetdi tmthaoet eet rrrpuorero babilfiietwray ns.o bti asteodw aarnpdya rtric clua(lstasa ­
bleT hersees iunldtist chatattheb e i iarssea l-
t).
Thec lassipfiecrafotrimooanftn hcMeeL Pa sa
funcotfni uonm boeftr r aicnyicnilgsse h so iwnn
Tab1l eM LPc lassiofiftc raatiidnotainan .g
(fig.u n8dt)eh rr ee diinffteerrreenpnartle senta­
tionFsr.ot mh ersees uilctta bsne,s eetnh atth e
C1a nroR doea dC3 a nroR doeasd C5 a rnR oodaeds
<>no<<>•••O<>:<'�:o.o.o.o.o.o.o.o.o.<>.<>.<>.o.o.o.o.o.o.o.o.o.o.o.o. Car 97 3 92 8 93 7
00 ;-•Z�::•., :• .,:u•••1tA,.1tA•1t0101,..,0,..,,..,., ., Road1 99 1 99 1 99
ii
�M
} � 0
_g ••
"i 7 5 tivienlsyi gn(ioufirnc iafnfotor armnM ) L Pc l­as
sifioefr o1r,5h i3d dneonda enstd h actls asi­fica
�L-������__,.,...�--', tipoenr forimasa cncceep it.awebil.te h,1i 0n3
N...-O!T<.-.ngC'flC* 110' errporro,v tihdatethdi e m acghea ra�c taerrei stics
MLPw itohn l1h yi ddneond e pearswf eolrlm sas si miltahroi sntte ho te r aipnaitntge rns.
5
4.I ntegranardte isounl ts inogn,l 1y7a rmei s-claswshiefir1ee2daso7, ft he
128 vehicleisd eanrte(i tfihlceeood rri rrsye ctly
Thien tegsryasttgeeedmn erana utmebsoe fcr a n­
mis-cliasnass iifinefrgdal mee.)
didaRtOeI( 'fis.g a5n 6d) p,o tenttwipoae lrl y
vertsitcraiil.p oe,n. e tdour ee covuenrdeedr ­
vehischlaedp oows ition2 .1(4)sa. encodtn ieo n
5.C onclusions
duteo m aximuhmo rizeodngrteea slp lono­scea
tion (2s.e4ca.tn3id)o ,ni nvokecsls astih­eT hehM yLbPrd iedt ecatnirdoe nc ogsnyisttiheoamns
fieorn a lcla ndiRdOIa'tIsemf. o rteh aonn peo ­ provteobd er emarksaucbcelsy.s Tfuhle oufs e
tenvteihaili cdsl eet eicnatg eidv veenr tsitcrailpt hiem apgreo ceRsOsIdi entge ction enables mul­
thetnhR eO Iw itthhh ei ghcelssasti cfioenrfi dentciepp loet envteihailic nla es 'isni gmlaetg oeb e
isa cce(pfitge1.d1 ). clsasifiaendrdj e cetmso setx trabnaecokugsr ound
informfraotmti hocenls asificpartoic.oeT nsh se
Fotrh eex amipmlgaeet he cMlLaPs siafircea tuisooenfR s O Ih'assa laslol otwhecedl s asifiteor be
shown( fi.gi9 n) (afin.g1d 0.) bAa ckgraonudn idn varibaontsthc atloeR OaIpn ods ition within
thien piumta gTeh.se u ecscosft hcel sasification
systheasam l loswoemodeft hiem apgreo cessing
consttroba eir netlsaa xnehdda e sn abalnee xdt ra
degroefre o busttonb eeis nsc orpionrttaoht ee d
combisnyesd.tI etimhs opteodf urtihmeprr ove
thsey stbeyim no crporaat trianctgko pe err form
Fig. ROI'sc lassifieads road and
9. (76.12030,3
tempofirlatle ring.
1003)
Acknowledgements
This wwaso crokn duacttt ehUden iveorfs ity
Soumtphta.oT nhea uthwoorusll idtk oet hank
Lucas AutFoomrodt-iJavanegdP,u i alrgk tionn
fotrh esiurp pooftr htPi RsO EMTHEUSp reocj.t
Fig. ROI'sc lassifiaesd c ar
10. (27.4007.35,8 3,
6.R EFERENCES
and
88.79833.,79 243.,89 953.,4 0936 .633)
lortrayi lR-OgIaa rtceea tegoasr" icsaserid"n ceC hu,a nCJd.K . .A ggar(w19a92lI) m.ga es ens­
theayr e sig"nniofiatc-da,dr"n outtelot y h ehiirg h inugs imnugl tsiepnlsemi ondga liIEtEiE es.
degorfie net esrtnraulca tlutrheto,huc egal hs sifierTr ans.P atternA nalysainsd M achine Intelli­
haasl o(w72 .70%c)o nfidienn cctelhs asei ficatiogenn c1e 4(1804)0,- 846.
oft hbea ckgrroeugnido n. HornKi.(k 1,99 1A)p.p rmoaxtiicoanpi albiotfi es
mulyteifrle aedfornweatrwdoN reukrsal. Net­
work4s ,2 5-1257.
KuehnAl.(e 19,91 S)y.m metryr-ebcaosgendi tion
ofv ehircelaePra st.te rRne cognitLieotn ters
122,4 9-258.
RucDkW.,. S,. RKo.g eMr.Ks a,b r,iM s.kEOy.x ­
leayn Bd. WS.u t(e91r09 )T.h meu lyteiprle ar­
ceptarsao nna pprmoaxtiitooan b yaeosp ti­
madli scrnitfum nicntaIiEoEEn Tr.an s.N eural
Network1s( 42)9-,62 9. 8
SangTe.rD(,.1 9 9)8O.p tiumnaslu pelrevairsne­d
inigna s inagyleelr-ielndfe eeadrfo rwnaerudr al
Fig1. 1.De tecteadn dc lassifiveedh ictlaer gets. netrwkNo.eu raNle twor2k, 4 5497-.3
SojberJg.a, n dL .L ujng( 129)9O.v ertraining,
regularainzsdae tairocnh,mi inngi mfiuonmr
Thei ntegvreahtidecedlt ee catnirdoe nc ognition
systheambs e esnu ccesaspfuplltlioyae l dra ge neunreatlw oIrnPk:rso c.o. f t he !FASGym po­
numbiemrgae s equefrnocmae v sa rioefst oyu rcess iumo n AdaptivSyes temisn C ontraonld S ig­
feuartimnagn y divffeehrieTcnhltece lsu.tr et­er nalP rocessiInAFgC. p.p 6.6 9-674.
YoungE,. R,. Tr ibaen dR .C onlo(n19g92 ).
jectciaopna boiftl hicetls yas iifimerpro vtehse
Obstadceltee cftoirco onl liasvdioaoinnc e.
SNRo ft hceo mbionuetdps uitg ni,fie c.afognr.t ly
th3e2 fr ame exampleo f7 s6se pquureinocueIs,n T:h irPdR OMETHEUS collisaivooni dance
backgrRoOIus'dn edt ebcytt ehidem apgreo cessw-orkshop.
6