Onboard surveillance system for automobiles using image processing LSI

This paper presents an onboard surveillance system using an image processing LSI for automobiles. The system consists of three cameras positioned to observe the front, the right rear side and the left rear side, and detects preceding cars and passing cars as obstacles. This system detects the obstacles in image sequences by testing whether the motions of horizontal line segments satisfy the motion constraint of a ground plane or that of a surface plane of the car. We have implemented our method in a newly developed image processing LSI. The LSI is capable of detecting simultaneously a preceding car and a passing car in each of these three directions at about 10-50 [ms/frame]. Experimental results for real road scenes under various conditions show the effectiveness of this system.