Real-Time Ranging of Vehicles and Pedestrians for Mobile Application on Smartphones  

作　　者：ZHOU Su ZHONG Zebin 周苏;钟泽滨

机构地区：[1]School of Automotive Studies,Tongji University,Shanghai 201804,China

出　　处：《Journal of Shanghai Jiaotong university(Science)》2024年第6期1081-1090,共10页上海交通大学学报(英文版)

基　　金：the RoboCar Project for Internationalization of RTI Projects within the Frame of the Austrian Research Promotion Agency(No.861000)。

摘　　要：The vehicles and pedestrians ranging is one of the basic functions of advanced driving assistance system.However,most of the ranging systems can only work on workstations with high computing power.To solve this problem,a lightweight algorithm is proposed to be packaged into Android application package,and be installed in Android smartphones for vehicles and pedestrians ranging.The proposed ranging system is based on the images obtained by smartphone’s monocular camera.To achieve real-time ranging,an 8-bit integer(int8)quantization algorithm is proposed to accelerate the inference of convolutional neural networks.To increase the detection precision,a zoom-in algorithm is further proposed to detect small targets in the distance.After having detected the 2D bounding boxes of vehicles and pedestrians,a pinhole ranging method is applied to estimate the distance.In order to verify the proposed algorithm,the mean average precision(mAP)and the frame per second(FPS)are first tested by using COCO dataset on Huawei P40Pro,then,the ranging precision on the real road.The experimental results show that this algorithm can successfully perform real-time ranging(15 FPS)with high precision(34.8 mAP)onto the tested smartphones.Finally,a possible mobile application based on the ranging algorithm,i.e.,distance keeping warning,is also provided.

关 键 词：advanced driving assistance system computer vision int8 quantization visual ranging smartphone application 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术] U463[自动化与计算机技术—计算机科学与技术]