Detecting Approaching Vehicles from the Rear Side Using In-Vehicle Fish-eye Cameras

摘要

A lot of methods for detecting the vehicle by image processing are proposed. In this paper,we propose a vehicle detection method based on the feature points.The feature points are detected from the image obtained form the camera sensor,and optical flows are calculated as their tracking result.Then,they are judged whether road textures origin or vehicle origin by comparing with the map of optical flows corresponding to the speed of the vehicle calculated beforehand.Moreover,this methood was applied to the image sequences that contained az variety of vehicle,and was verified.