Title :
Localization of ahead vehicles with on-board stereo cameras
Author_Institution :
FBK, Trento
Abstract :
This paper introduces a vision based algorithm that detects and localizes ahead vehicles elaborating images taken by a stereo camera installed on an intelligent vehicle. The algorithm is based on the analysis of stereo images, estimating the ground plane by least square fitting of disparity data, and segmenting the obstacles by a rule based split/merge strategy. Quantitative experiments on complex real world sequences validate the approach. The method is demonstrated to operate in real-time.
Keywords :
automated highways; cameras; knowledge based systems; least squares approximations; traffic engineering computing; ahead vehicle localization; ground plane estimation; intelligent vehicle; least square fitting; onboard stereo cameras; rule based split-merge strategy; Image analysis; Image segmentation; Intelligent vehicles; Laser radar; Layout; Object detection; Roads; Smart cameras; Stereo vision; Vehicle detection;
Conference_Titel :
Image Analysis and Processing, 2007. ICIAP 2007. 14th International Conference on
Conference_Location :
Modena
Print_ISBN :
978-0-7695-2877-9
DOI :
10.1109/ICIAP.2007.4362766
