An Attention-based System Approach for Scene Analysis in Driver Assistance Ein aufmerksamkeitsbasierter Systemansatz zur Szenenanalyse in der Fahrerassistenz
Thomas Paul Michalke, Robert Kastner, Jürgen Adamy, Sven Bone, Falko Waibel, Marcus Kleinehagenbrock, Jens Gayko, Alexander Gepperth, Jannik Fritsch, Christian Goerick · at - Automatisierungstechnik · 2008
Abstract Research on computer vision systems for driver assistance resulted in a variety of isolated approaches mainly performing very specialized tasks like, e. g., lane keeping or traffic sign detection. However, for a full understanding of generic traffic situations, integrated and flexible approaches are needed. We here present a highly integrated vision architecture for an advanced driver assistance system inspired by human cognitive principles. The system uses an attention system as the flexible and generic front-end for all visual processing, allowing a task-specific scene decomposition and search for known objects (based on a short term memory) as well as generic object classes (based on a long term memory). Knowledge fusion, e. g., between an internal 3D representation and a reliable road detection module improves the system performance. The system heavily relies on top-down links to modulate lower processing levels, resulting in a high system robustness.