Title :
Robust vehicle detection at large distance using low resolution cameras
Author :
Knoeppel, C. ; Chanz, A.S. ; Michaelis, B.
Author_Institution :
Res. Inst., DaimlerChrysler AG, Esslingen, Germany
Abstract :
This paper describes a robust vehicle detection system which detects vehicles in the rear view of the host car. Two cameras with 12 mm focal length mounted behind the back pane are used. Reliable vehicle recognition up to 150 m and the exact track localization of the vehicles are the key features of the system. The robust stereo algorithm generates object hypotheses which are tracked with Kalman filter. Using the steering angle and the detected obstacles, the driven way of the host vehicle is reconstructed. This information is used for a lane change assistant
Keywords :
Kalman filters; computer vision; driver information systems; filtering theory; image recognition; image reconstruction; object detection; road vehicles; stability; stereo image processing; tracking; 12 mm; 150 m; Kalman filter; exact track localization; lane change assistant; low resolution cameras; robust stereo algorithm; robust vehicle detection system; steering angle; Cameras; Change detection algorithms; Object detection; Object recognition; Radar detection; Radar tracking; Robustness; Vehicle detection; Vehicle driving; Vehicles;
Conference_Titel :
Intelligent Vehicles Symposium, 2000. IV 2000. Proceedings of the IEEE
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-6363-9
DOI :
10.1109/IVS.2000.898353
