With increasing traffic density the demand for higher security and greater comfort for the car driver arises. Therefore new technologies are required. One of these is computer vision, which can be used to support the driver in complex situations in order to increase his security and comfort. A possible function to be used in future driver support systems is automatic object and lane marker detection. For these applications active sensors like radar or lidar show significant problems in the near vicinity of the sensor. As an alternative video can be applied for object detection, which is the subject of this paper, for longitudinal control. The problem of detecting objects outside the road plane can be solved by using the 3D information from two images of the same scene recorded from different perspectives by a stereo rig. Here the surface of the road is modelled by a plane. Then a set of eight collineation parameters can be determined which maps any point of the road from one perspective of a stereo rig to the other perspective. Applying this mapping for every pixel of one image, this image appears to be recorded from the other perspective. Obviously this is only valid for points which belong to the plane of the road. For points outside the road plane this mapping fails, resulting in a high energy in the difference image from which an object mask can be derived. From this object mask individual objects can be extracted and tracked in time.
Continuous estimation of the road plane for measuring obstacles using a stereo rig
1997-01-01
5 pages
Aufsatz (Zeitschrift)
Englisch
CCD cameras , video , stereo rig , computer vision , longitudinal control , difference image , road plane , object mask , automatic object detection , cars , pixel , mapping , lidar , parameter estimation , feature extraction , continuous estimation , automatic lane marker detection , object detection , active sensors , video signal processing , driver support systems , stereo image processing , radar , obstacle measurement , 3D information , traffic density , least squares approximations , video cameras , automobiles
Detection of Road Obstacles Using Dynamic Programming for Remapped Stereo Images to a Top-View
British Library Conference Proceedings | 2005
|Detecting Obstacles on the Guideway Using Stereo Vision
Online Contents | 1996
|Detecting Obstacles on the Guideway Using Stereo Vision
British Library Online Contents | 1996
|Position Estimation and Multiple Obstacles Tracking Method based on Stereo Vision System
British Library Conference Proceedings | 2009
|