Title :
GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection
Author :
Bertozzi, Massimo ; Broggi, Alberto
Author_Institution :
Dept. of Inf. Technol., Parma Univ., Italy
fDate :
1/1/1998 12:00:00 AM
Abstract :
This paper describes the generic obstacle and lane detection system (GOLD), a stereo vision-based hardware and software architecture to be used on moving vehicles to increment road safety. Based on a full-custom massively parallel hardware, it allows to detect both generic obstacles (without constraints on symmetry or shape) and the lane position in a structured environment (with painted lane markings) at a rate of 10 Hz. Thanks to a geometrical transform supported by a specific hardware module, the perspective effect is removed from both left and right stereo images; the left is used to detect lane markings with a series of morphological filters, while both remapped stereo images are used for the detection of free-space in front of the vehicle. The output of the processing is displayed on both an on-board monitor and a control-panel to give visual feedbacks to the driver. The system was tested on the mobile laboratory (MOB-LAB) experimental land vehicle, which was driven for more than 3000 km along extra-urban roads and freeways at speeds up to 80 km/h, and demonstrated its robustness with respect to shadows and changing illumination conditions, different road textures, and vehicle movement
Keywords :
digital filters; edge detection; mathematical morphology; object detection; parallel architectures; road vehicles; safety; stereo image processing; transforms; 80 km/h; GOLD; control-panel; extra-urban roads; free-space; freeways; full-custom massively parallel hardware; generic obstacle and lane detection; geometrical transform; illumination conditions; lane position; morphological filters; moving vehicles; on-board monitor; painted lane markings; parallel real-time stereo vision system; perspective effect; road safety; road textures; shadows; stereo vision-based architecture; visual feedbacks; Gold; Hardware; Land vehicles; Real time systems; Road safety; Road vehicles; Software architecture; Stereo vision; Vehicle detection; Vehicle safety;
Journal_Title :
Image Processing, IEEE Transactions on