Title :
Obstacle detection using projective invariant and vanishing lines
Author :
Okada, Ryuzo ; Taniguchi, Yasuhiro ; Furukawa, Kenji ; Onoguchi, Kazunori
Author_Institution :
Multimedia Lab., Toshiba Corp., Kawasaki, Japan
Abstract :
We present a novel method for detecting vehicles as obstacles in various road scenes using a single onboard camera. Vehicles are detected by testing whether the motion of a set of three horizontal line segments, which are always on the vehicles, satisfies the motion constraint of the ground plane or that of the surface plane of the vehicles. The motion constraint of each plane is derived from the projective invariant combined with the vanishing line of the plane that is a prior knowledge of road scenes. The proposed method is implemented into a newly developed onboard LSI. Experimental results for real road scenes under various conditions show the effectiveness of the proposed method.
Keywords :
image motion analysis; object detection; road vehicles; tracking; ground plane; motion constraint; obstacle detection; onboard LSI; onboard camera; projective invariant; road scenes; surface plane; vanishing lines; Cameras; Image segmentation; Land vehicles; Layout; Mobile robots; Motion detection; Motion estimation; Road vehicles; Robustness; Vehicle detection;
Conference_Titel :
Computer Vision, 2003. Proceedings. Ninth IEEE International Conference on
Conference_Location :
Nice, France
Print_ISBN :
0-7695-1950-4
DOI :
10.1109/ICCV.2003.1238363