Title :
Free Space Detection on Highways using Time Correlation between Stabilized Sub-pixel precision IPM Images
Author :
Cerri, Pietro ; Grisleri, Paolo
Author_Institution :
Artificial Vision and Intelligent System Laboratory Dipartimento di Ingegneria dell’Informazione, Università di Parma Viale delle Scienze 181/A, 43100 Parma, Italy; cerri@ce.unipr.it
Abstract :
The work described in this paper has been developed in the framework of the Integrated Project APALACI - PReVENT, a European research activity funded by the European Commission to contribute to road safety by developing and demonstrating preventive safety applications and technologies. This paper describes a new method for detecting free space in front of vehicles driving on highways. The described algorithm is mainly based on time correlation and Inverse Perspective Mapping (IPM). In order to improve the system robustness and reliability IPM has been modified to achieve sub-pixel precision and a new image stabilization method specifically designed to work on structured road is also proposed. The robustness of the method will be shown describing test results. Considerations on computational power requested by the algorithm are provided.
Keywords :
Free space detection; image correlation in time; image stabilization; inverse perspective mapping; sub-pixel accuracy; Design methodology; Power system reliability; Road safety; Road transportation; Road vehicles; Robustness; Space technology; Space vehicles; Vehicle detection; Vehicle driving; Free space detection; image correlation in time; image stabilization; inverse perspective mapping; sub-pixel accuracy;
Conference_Titel :
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN :
0-7803-8914-X
DOI :
10.1109/ROBOT.2005.1570443
