ABSTRACT

A Fast learning method for accurate robust object and lane detection is a critical
area of research in moving object tracking systems. After classification and
localization of these detections within ones output is considered to be as a
prerequisite for autonomous vehicles (AV) driving systems. The lane and vehicle
detection are necessary for avoiding collisions. This research demonstrates the
design and implementation of Driving simulator for AV using advance technologies.
The system displays warning whenever it detects an object such as pedestrian, car,
bus, trash can and snow pile on the road. For our research work, we have
developed an independent application by using intelligent computer vision (CV)
module. The main features contain in this module are camera calibration, realtime
lane tracking and accurate object detection. We employed state-of-the-art, deep
learning techniques by operating a plug-in, using SDK for synchronizing the CV
Module with VR Driving Simulator. User Datagram Protocol [ ] is used for inter-
application communication. Camera calibration is done using OpenCV API that uses
front-mounted camera of simulated vehicle for lane tracking. The object detection
is performed by using deep learning algorithm called MobileNet-SSD [1]. The
results achieve maximum computational and memory efficiency by mAP of 72.7%
on VOC0712 using Caffe framework [2], which enables direct access to light weight
deep neural network.

[1] A. G. Howard, M. Zhu, B. Chen, D. Kalenichenko, W. Wang, T. Weyand, M. Andreetto and H. Adam,
"MobileNets: Efficient Convolutional Neural Networks for Mobile Vision Applications," Menglong
Zhu, 2017.

[2] chuanqi, "MobileNet-SSD," github, 2016.