Title :
A single camera based rear obstacle detection system
Author :
Yankun, Zhang ; Chuyang Hong ; Weyrich, N.
Author_Institution :
Adv. Driver Assistant Syst. Group, China R&D Center, Shanghai, China
Abstract :
This paper presents a rear obstacle detection system by using a single rear view camera. The system can detect various static and moving obstacles behind the cars. An efficient hierarchical detecting strategy is used to achieve high detection rate and low false positives. The temporal Inverse perspective mapping difference image based coarse detection is used to estimate whether there are obstacles in the predetermined warning area at first stage. Then a novel integral image based segmentation algorithm is developed for fine obstacle segmentation. Finally, the blob analysis is utilized for obstacle representation and verification. Our system achieves 94.2% detection rate and 16% false positives rate on 125 challenging video sequences. The average processing speed of the system is 25 fps on a standard laptop.
Keywords :
automobiles; image motion analysis; image representation; image segmentation; image sequences; object detection; road safety; road traffic; traffic engineering computing; video cameras; video signal processing; blob analysis; car; coarse detection; hierarchical detecting strategy; high detection rate; image based segmentation algorithm; moving obstacle detection; obstacle representation; obstacle segmentation; obstacle verification; predetermined warning area; rear obstacle detection system; single rear view camera; static obstacle detection; temporal inverse perspective mapping difference image; video sequence; Cameras; Detection algorithms; Driver circuits; Histograms; Image edge detection; Image segmentation; Roads;
Conference_Titel :
Intelligent Vehicles Symposium (IV), 2011 IEEE
Conference_Location :
Baden-Baden
Print_ISBN :
978-1-4577-0890-9
DOI :
10.1109/IVS.2011.5940499
