Detection and Tracking of Road Barrier Based on Radar and Vision Sensor Fusion

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/js/volume-2016/1963450/figures/1963450.fig.007a.svgz" name="1963450.fig.007a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Snapshot at <svg height="10.9953pt" id="M78" style="vertical-align:-3.18148pt" version="1.1" viewbox="-0.0498162 -7.81382 9.43046 10.9953" width="9.43046pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="341" vert-adv-y="341"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg> = 123.7 (sec)</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/js/volume-2016/1963450/figures/1963450.fig.007b.svgz" name="1963450.fig.007b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Creation of road barrier at <svg height="10.9953pt" id="M79" style="vertical-align:-3.18148pt" version="1.1" viewbox="-0.0498162 -7.81382 9.43046 10.9953" width="9.43046pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="341" vert-adv-y="341"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg></td></tr><tr class="fig-image" id="c"><td><object data="https://static-preview.hindawi.com/articles/js/volume-2016/1963450/figures/1963450.fig.007c.svgz" name="1963450.fig.007c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Snapshot at <svg height="10.9953pt" id="M80" style="vertical-align:-3.18148pt" version="1.1" viewbox="-0.0498162 -7.81382 9.43046 10.9953" width="9.43046pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="341" vert-adv-y="341"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg> = 124.5 (sec)</td></tr><tr class="fig-image" id="d"><td><object data="https://static-preview.hindawi.com/articles/js/volume-2016/1963450/figures/1963450.fig.007d.svgz" name="1963450.fig.007d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Trajectory of tracks from <svg height="10.9953pt" id="M81" style="vertical-align:-3.18148pt" version="1.1" viewbox="-0.0498162 -7.81382 9.43046 10.9953" width="9.43046pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="341" vert-adv-y="341"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"><path d="M389 0V32C297 38 291 46 291 118V635C234 613 175 595 109 583V556L161 554C203 552 207 547 207 497V118C207 46 201 38 110 32V0H389Z" id="g50-50"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg> to <svg height="10.9953pt" id="M82" style="vertical-align:-3.18148pt" version="1.1" viewbox="-0.0498162 -7.81382 9.43046 10.9953" width="9.43046pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M324 430H196L233 583L223 592L145 529L120 430H54L29 396L31 388H111L56 126C33 15 54 -12 77 -12C137 -12 214 57 250 95L233 119C208 92 155 59 138 59C126 59 120 70 131 125L186 390L298 394L324 430Z" id="g113-117"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="341" vert-adv-y="341"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,4.368,3.132)"><path d="M414 144C384 79 371 75 317 75H135L276 221C367 316 408 376 408 465C408 570 327 635 237 635C179 635 131 609 100 575L42 494L67 471C94 510 138 565 205 565C277 565 321 517 321 435C321 348 258 270 195 195C146 137 88 81 33 26V0H411C423 44 433 88 446 135L414 144Z" id="g50-51"></path><glyph.data ascent="3443" descent="-2856" horiz-adv-x="487" vert-adv-y="487"></glyph.data></g></svg></td></tr></table>

<div>Road barrier detection via estimation.</div>

Journal of Sensors

fig7

Figure 7

Figure 7: Detection and Tracking of Road Barrier Based on Radar and Vision Sensor Fusion 