Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Detection of Preceding Vehicles Based on a Multistage Combination of Edge Features and Horizontal Symmetry

에지특징의 단계적 조합과 수평대칭성에 기반한 선행차량검출

  • 송광열 (전남대학교 산업공학과(자동차연구소)) ;
  • 이준웅 (전남대학교 산업공학과(자동차연구소))
  • Published : 2008.07.01

Abstract

This paper presents an algorithm capable of detecting leading vehicles using a forward-looking camera. In fact, the accurate measurements of the contact locations of vehicles with road surface are prerequisites for the intelligent vehicle technologies based on a monocular vision. Relying on multistage processing of relevant edge features to the hypothesis generation of a vehicle, the proposed algorithm creates candidate positions being the left and right boundaries of vehicles, and searches for pairs to be vehicle boundaries from the potential positions by evaluating horizontal symmetry. The proposed algorithm is proven to be successful by experiments performed on images acquired by a moving vehicle.

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