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

fYear

2005

fDate

18-22 April 2005

Firstpage

2223

Lastpage

2228

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on

Print_ISBN

0-7803-8914-X

Type

conf

DOI

10.1109/ROBOT.2005.1570443

Filename

1570443