AURORA: a vision-based roadway departure warning system

Author

Chen, Mei ; Jochem, Todd ; Pomerleau, Dean

Author_Institution

Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA

Volume

1

fYear

1995

fDate

5-9 Aug 1995

Firstpage

243

Abstract

AURORA is a vision-based system designed to warn a vehicle driver of possible impending roadway departure accidents. It employs a downward looking color video camera with a wide angle lens, a digitizer, and a portable Sun Sparc workstation. Using a binormalized adjustable template correlation algorithm, it reliably detects lane markers on structured roads at 60 Hz. A time-to-lane-crossing (TLC) measurement is calculated for each image based on the estimation of vehicle´s lateral position and velocity. This measurement is used to trigger an alarm when the TLC falls below a preset threshold. Promising results have been achieved under a variety of weather and lighting conditions, on many road types

Keywords

driver information systems; image colour analysis; position measurement; road vehicles; velocity measurement; AURORA; binormalized adjustable template correlation algorithm; digitizer; downward looking color video camera; impending roadway departure accidents; lane markers; lateral position estimation; lateral velocity estimation; portable Sun Sparc workstation; time-to-lane-crossing measurement; vision-based roadway departure warning system; wide angle lens; Alarm systems; Cameras; Lenses; Position measurement; Road accidents; Road vehicles; Sun; Vehicle detection; Vehicle driving; Workstations;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on

Conference_Location

Pittsburgh, PA

Print_ISBN

0-8186-7108-4

Type

conf

DOI

10.1109/IROS.1995.525803

Filename

525803