Realtime danger estimation at an intersection by wide and telephoto images

We have developed a real time vision system for the Robotic Travel Aid system which detects vehicles at the intersection of roads, their positions, velocities and moving directions. This system can also evaluate danger coefficient to have a mobile robot stay still or go and cross the road. In the previous work we used a single standard lens for this purpose and detected vehicles coming in the front of the camera. However this system could not watch the right side of the crossing. The present system has two cameras. One of them is wide angle lens to sec both sides of the crossing. The other one is telephoto lens to look at forward. In this paper we describe the system configuration and evaluation of danger coefficient. The obtained success rate for finding dangerous vehicles is over 85% and the processing time is 180 msec