Obstacle detection system using single camera for low-speed vehicle interval control

摘要

In this paper, we present an obstacle detection system using a single on-board camera for low-speed vehicle interval control, which is useful for supporting a driver in heavy traffic. Our system computes motions of horizontal line segments that are often found on a preceding vehicle, and detects the preceding vehicle by checking whether the motions of vertically aligned arbitrary three line segments are consistent with motion parallax of a ground plane or that of the preceding vehicle represented by a fronto-parallel plane. Computational cost of our method is sufficiently small for video-rate realtime processing on an ordinary PC system. We evaluate performance of our PC-based prototype system using video sequences of traffic jam for 220 minutes, and show effectiveness of our method.