title: Robust sensing of approaching vehicles relying on acoustic cues.
abstract: The latest developments in automobile design have allowed them to be equipped with various sensing devices. Multiple sensors such as cameras and radar systems can be simultaneously used for active safety systems in order to overcome blind spots of individual sensors. This paper proposes a novel sensing technique for catching up and tracking an approaching vehicle relying on an acoustic cue. First, it is necessary to extract a robust spatial feature from noisy acoustical observations. In this paper, the spatio-temporal gradient method is employed for the feature extraction. Then, the spatial feature is filtered out through sequential state estimation. A particle filter is employed to cope with a highly non-linear problem. Feasibility of the proposed method has been confirmed with real acoustical observations, which are obtained by microphones outside a cruising vehicle.
authors.affiliation: Kyushu Institute of Technology, 1-1 Sensui-cho, Tobata-ku, Kitakyushu, Fukuoka 804-8550, Japan. mizumach@ecs.kyutech.ac.jp.
authors.forename: Mitsunori
authors.initials: M
authors.lastname: Mizumachi
authors.affiliation: Nissan Motor Co., Ltd., 1-1 Aoyama, Morinosato, Atsugi, Kanagawa 243-0123, Japan. atunob-k@mail.nissan.co.jp.
authors.forename: Atsunobu
authors.initials: A
authors.lastname: Kaminuma
authors.affiliation: National Institute of Informatics, 2-1-2 Hitotsubashi, Chiyoda-ku, Tokyo 101-8430, Japan. onono@nii.ac.jp.
authors.forename: Nobutaka
authors.initials: N
authors.lastname: Ono
authors.affiliation: The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan. ando@alab.t.u-tokyo.ac.jp.
authors.forename: Shigeru
authors.initials: S
authors.lastname: Ando
mesh_terms: D000162:Acoustics; D001334:Automobile Driving / Q000592:standards*; D001336:Automobiles / Q000592:standards*; D003463:Cues; D012449:Safety; D012815:Signal Processing, Computer-Assisted