Vehicle detection by means of stereo vision-based obstacles features extraction and monocular pattern analysis.
This paper presents a stereo vision system for the detection and distance computation of a preceding vehicle. It is divided in two major steps. Initially, a stereo vision-based algorithm is used to extract relevant three-dimensional (3-D) features in the scene, these features are investigated further in order to select the ones that belong to vertical objects only and not to the road or background. These 3-D vertical features are then used as a starting point for preceding vehicle detection; by using a symmetry operator, a match against a simplified model of a rear vehicle's shape is performed using a monocular vision-based approach that allows the identification of a preceding vehicle. In addition, using the 3-D information previously extracted, an accurate distance computation is performed.
Toulminet
Gwenaëlle
G
Laboratoire Perception Systèmes Information, Université/INSA de Rouen, Mont-Saint-Aignan Cedex, France. gwenaelle.toulminet@insa-rouen.fr
Bertozzi
Massimo
M
Mousset
Stéphane
S
Bensrhair
Abdelaziz
A
Broggi
Alberto
A
D000465:Algorithms; D001185:Artificial Intelligence; D007089:Image Enhancement / Q000379:methods*; D007090:Image Interpretation, Computer-Assisted / Q000379:methods*; D016247:Information Storage and Retrieval / Q000379:methods; D018986:Motor Vehicles / Q000145:classification*; D009716:Numerical Analysis, Computer-Assisted; D010363:Pattern Recognition, Automated / Q000379:methods*; D010780:Photogrammetry / Q000379:methods*; D013382:Subtraction Technique; D014741:Video Recording / Q000379:methods*; D015349:Vision, Monocular