Forward Vehicle Detection Algorithm Using Column Detection and Bird`s-Eye View Mapping Based on Stereo Vision


KIPS Transactions on Software and Data Engineering, Vol. 18, No. 5, pp. 255-264, May. 2011
10.3745/KIPSTB.2011.18.5.255, Full Text:

Abstract

In this paper, we propose a forward vehicle detection algorithm using column detection and bird`s-eye view mapping based on stereo vision. The algorithm can detect forward vehicles robustly in real complex traffic situations. The algorithm consists of the three steps, namely road feature-based column detection, bird`s-eye view mapping-based obstacle segmentation, obstacle area remerging and vehicle verification. First, we extract a road feature using maximum frequent values in v-disparity map. And we perform a column detection using the road feature as a new criterion. The road feature is more appropriate criterion than the median value because it is not affected by a road traffic situation, for example the changing of obstacle size or the number of obstacles. But there are still multiple obstacles in the obstacle areas. Thus, we perform a bird`s-eye view mapping-based obstacle segmentation to divide obstacle accurately. We can segment obstacle easily because a bird`s-eye view mapping can represent the position of obstacle on planar plane using depth map and camera information. Additionally, we perform obstacle area remerging processing because a segmented obstacle area may be same obstacle. Finally, we verify the obstacles whether those are vehicles or not using a depth map and gray image. We conduct experiments to prove the vehicle detection performance by applying our algorithm to real complex traffic situations.


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Cite this article
[IEEE Style]
C. H. Lee, Y. C. Lim, S. Kwon and J. H. Kim, "Forward Vehicle Detection Algorithm Using Column Detection and Bird`s-Eye View Mapping Based on Stereo Vision," KIPS Journal B (2001 ~ 2012) , vol. 18, no. 5, pp. 255-264, 2011. DOI: 10.3745/KIPSTB.2011.18.5.255.

[ACM Style]
Chung Hee Lee, Young Chul Lim, Soon Kwon, and Jong Hwan Kim. 2011. Forward Vehicle Detection Algorithm Using Column Detection and Bird`s-Eye View Mapping Based on Stereo Vision. KIPS Journal B (2001 ~ 2012) , 18, 5, (2011), 255-264. DOI: 10.3745/KIPSTB.2011.18.5.255.