Front Vehicle Detection and Distance Estimation Using Single-Lens Video Camera

摘要

This paper is dedicated to the front vehicle detection and its distance estimation using one single-lens car video camera on the urban & suburb road roads. The proposed method mainly consists of road area detection and the front vehicle detection & distance calculation. Firstly, Hough transform is used to detect lines in which the appropriate straight lines are selected and their intersection points are exploited for obtaining the vanishing point. Then, both strong right and left edges are extracted and connected to the vanishing point for segmenting the road area, and on such area the bottom shadow of the front vehicle is utilized to locate the vehicle's position. Finally, the distance between the host vehicle and the front vehicle is calculated based on the position of a vehicle and the vanishing point. Experimental results show that the proposed technique can moderately detect the front vehicles on the urban & suburb roads with detection rate of 78% at least.