Frame-rate vehicle detection within the attentional visual area of drivers

This contribution consists of a frame-rate, vision-based, on-board method which detects vehicles within the attentional visual area of the driver. The method herein uses the 3D absolute gaze point of the driver obtained through the combined use of a front-view stereo imaging system and a non-contact 3D gaze tracker, alongside hypothesis-generation reducing techniques for vehicular detection such as horizon line detection. Trained AdaBoost classifiers are used in the detection process. This technique is the first of its kind in that it identifies vehicles the driver is most likely to be aware of at any moment while in the act of driving.