Visual Perception and Tracking of Vehicles for Driver Assistance Systems

In this paper a driver assistance system for vehicle detection and tracking is presented. The goal of the system is to perceive the surroundings of the vehicle looking for other vehicles. Depending when they have been detected (overtaking, at long range) movement, or a geometric model of the vehicle are used. Later, the vehicle is tracked. As the algorithm receives information from a road detection module some geometric restrictions can be applied. A multi-resolution approach is used to speed up the algorithm and work in real-time. Examples of real images are shown to validate the algorithm