Forward obstacle detection in a lane by stereo vision

Author

Iwata, Hiroshi ; Saneyoshi, Keiji

Author_Institution

Dept. of Phys., Tokyo Inst. of Technol., Yokohama, Japan

fYear

2013

fDate

10-13 Nov. 2013

Firstpage

2420

Lastpage

2425

Abstract

We have developed the forward obstacle detection system by using stereo vision. This system consists of a combination of a stereo processing system based on a Field-Programmable Gate Array (FPGA) and Central Processing Unit (CPU) on PC. By using the FPGA-based system, the system can process images of high resolution and frame rate in real time. Therefore, large field of view and accuracy of distance go together. This system defines the drivable tunnel by detecting road surface and lane. Then, the forward obstacle in the tunnel can be detected. It was confirmed that this system works by the experiment in the expressways.

Keywords

field programmable gate arrays; image resolution; object detection; roads; stereo image processing; traffic engineering computing; CPU; FPGA-based system; PC; central processing unit; drivable tunnel; expressways; field-programmable gate array; forward obstacle detection system; frame rate; high resolution images; road lane; road surface; stereo processing system; stereo vision; Cameras; Field programmable gate arrays; Image edge detection; Joints; Roads; Stereo vision; Vehicles; lane detection; obstacle detection; stereo vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE

Conference_Location

Vienna

ISSN

1553-572X

Type

conf

DOI

10.1109/IECON.2013.6699510

Filename

6699510