Vehicle detection system design based on stereo vision sensors |
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Authors: | J Hwang K Huh |
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Institution: | (1) Department of Automotive Engineering, Graduate School, Hanyang Universitiy, Seoul, 133-791, Korea;(2) Department of Automotive Engineering, Hanyang Universitiy, Seoul, 133-791, Korea |
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Abstract: | Vehicle detection is a crucial issue for driver assistance system as well as for autonomous vehicle guidance function and
it has to be performed with high reliability to avoid any potential collision. The vision-based vehicle detection systems
are regarded promising for this purpose because they require little infrastructure on a highway. However, the feasibility
of these systems in passenger car requires accurate and robust sensing performance. In this paper, a vehicle detection system
using stereo vision sensors is developed. This system utilizes feature extraction, epipoplar constraint and feature matching
in order to robustly detect the initial corresponding pairs. The proposed system can detect a leading vehicle in front and
can estimate its position parameters such as the distance and heading angle. After the initial detection, the system executes
the tracking algorithm for the vehicles in the lane. The proposed vehicle detection system is implemented on a passenger car
and its performances are verified experimentally. |
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Keywords: | Stereo vision Vehicle detection Epipolar constraints Normalized cross correlation |
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