Vision-Based Nighttime Vehicle Detection Using CenSurE and SVM

In this paper, we propose a method for detecting vehicles from a nighttime driving scene taken by an in-vehicle monocular camera. Since it is difficult to recognize the shape of the vehicles during nighttime, vehicle detection is based on the headlights and the taillights, which are bright areas of pixels called blobs. Many research studies using automatic multilevel thresholding are being conducted, but these methods are prone to get affected by the ambient light because it uses the luminance of the whole image to derive the thresholds. Owing to such reasons, we focused on the Laplacian of Gaussian operator, which derives the response of luminance difference between the blob and its surroundings. Compared with automatic multilevel thresholding, Laplacian of Gaussian operator is more robust to the ambient light. However, the computational cost to derive the response of this operator is large. Therefore, we used a method called Center Surround Extremas to detect the blobs in high speed. Since the detected blobs include nuisance lights, we had to determine whether the blob is a light of a vehicle or not. Thus, we classified them according to the features of the blob using support vector machines. Then, we detected vehicle traffic lane and specified the region where the vehicle may exist. Finally, we classified the blobs based on the movements across the frames. We applied the proposed method to nighttime driving sequences and confirmed the effectiveness of the classification process used in this method and that it could process within frame rate.