An improved obstacle detection using optical flow adjusting based on inverse perspective mapping for the vehicle safety

In this paper, we implement a method to detect obstacles around the vehicle by optical flow computation based on inverse perspective mapping. However, this approach had been proposed and used on the vehicle. But this approach is limited on a trajectory of the vehicle which moves along with a straight line. If the trajectory of the vehicle moves along with an arc line, the optical flow values will inconsistent in the left side and in the right side of this image which causes mistakes in obstacle detection. So we propose a method to improve this problem which uses the trajectory of vehicle to calculate the center of turning circle. And the center of turning circle can be used to adjust the inconsistent with optical flow values. After our improvement, the optical flow values can keep consistence even if the trajectory is along with an arc line.