Forward Vehicle Detection Algorithm Using Column Detection and Bird`s-Eye View Mapping Based on Stereo Vision 


Vol. 18,  No. 5, pp. 255-264, Oct.  2011
10.3745/KIPSTB.2011.18.5.255


PDF
  Abstract

In this paper, we propose a forward vehicle detection algorithm using column detection and bird`s-eye view mapping based on stereo vision. The algorithm can detect forward vehicles robustly in real complex traffic situations. The algorithm consists of the three steps, namely road feature-based column detection, bird`s-eye view mapping-based obstacle segmentation, obstacle area remerging and vehicle verification. First, we extract a road feature using maximum frequent values in v-disparity map. And we perform a column detection using the road feature as a new criterion. The road feature is more appropriate criterion than the median value because it is not affected by a road traffic situation, for example the changing of obstacle size or the number of obstacles. But there are still multiple obstacles in the obstacle areas. Thus, we perform a bird`s-eye view mapping-based obstacle segmentation to divide obstacle accurately. We can segment obstacle easily because a bird`s-eye view mapping can represent the position of obstacle on planar plane using depth map and camera information. Additionally, we perform obstacle area remerging processing because a segmented obstacle area may be same obstacle. Finally, we verify the obstacles whether those are vehicles or not using a depth map and gray image. We conduct experiments to prove the vehicle detection performance by applying our algorithm to real complex traffic situations.

  Statistics
  Cite this article

[IEEE Style]

C. H. Lee, Y. C. Lim, S. Kwon, J. H. Kim, "Forward Vehicle Detection Algorithm Using Column Detection and Bird`s-Eye View Mapping Based on Stereo Vision," The KIPS Transactions:PartB , vol. 18, no. 5, pp. 255-264, 2011. DOI: 10.3745/KIPSTB.2011.18.5.255.

[ACM Style]

Chung Hee Lee, Young Chul Lim, Soon Kwon, and Jong Hwan Kim. 2011. Forward Vehicle Detection Algorithm Using Column Detection and Bird`s-Eye View Mapping Based on Stereo Vision. The KIPS Transactions:PartB , 18, 5, (2011), 255-264. DOI: 10.3745/KIPSTB.2011.18.5.255.

Forms

Search
(IN TITLE, AUTHOR, ABSTRACT,KEYWORDS)

Advanced Search ▼

POPULAR KEYWORDS
(TOP 10 KEYWORDS)

Recent Publications
(LAST 3 YEARS)

Old Journals

Indexing

All publications of TKIPS is indexed in DOI, EBSCO, Google Scholar, Crossref, and CrossCheck.

TKIPS is also selected as the Journal for Accreditation by NRF (National Research Foundation of Korea).

Related Journals