| Issue |
MATEC Web Conf.
Volume 336, 2021
2020 2nd International Conference on Computer Science Communication and Network Security (CSCNS2020)
|
|
|---|---|---|
| Article Number | 07004 | |
| Number of page(s) | 5 | |
| Section | Intelligence Algorithms and Application | |
| DOI | https://doi.org/10.1051/matecconf/202133607004 | |
| Published online | 15 February 2021 | |
Computer vision based obstacle detection and target tracking for autonomous vehicles
School of Electronic Information Engineering, Shanghai Dianji University, Shanghai, China
* Corresponding author: caic@sdju.edu.cn
Obstacle detection and target tracking are two major issues for intelligent autonomous vehicles. This paper proposes a new scheme to achieve target tracking and real-time obstacle detection of obstacles based on computer vision. ResNet-18 deep learning neural network is utilized for obstacle detection and Yolo-v3 deep learning neural network is employed for real-time target tracking. These two trained models can be deployed on an autonomous vehicle equipped with an NVIDIA Jetson Nano motherboard. The autonomous vehicle moves to avoid obstacles and follow tracked targets by camera. Adjusting the steering and movement of the autonomous vehicle according to the PID algorithm during the movement, therefore, will help the proposed vehicle achieve stable and precise tracking.
Key words: Target tracking / obstacle detection / target tracking / deep learning / PID
© The Authors, published by EDP Sciences, 2021
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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