Presentation 2001/9/6
Obstacle Detection based on Virtual Plane Tracking using Single Camera Mounted on Vehicle
Ryuzo OKADA, Yasuhiro TANIGUCHI, Kazunori ONOGUCHI,
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Abstract(in English) We propose a method of detecting obstacle using a single camera mounted on a vehicle. Image regions having high contrast are selected as candidate regions of obstacles. Two virtual planes which correspond with surfaces of a road and an obstacle respectively are set in a scene for each candidate region, and are tracked in the subsequent image frames with their direction fixed. Because the virtual plane whose direction is similar to the surface of a real object has consistent results of tracking, the candidate region is determined to belong to the obstacle if the virtual plane corresponding with an obstacle has higher consistency than the virtual plane of the road. The consistency of tracking is measured based on the difference beteen the brightness distributions of the initial candidate region and the current candidate region obtained from the result of tracking. Our method works irrespective of existence of the lane mark, shake of the vehicle, and operation of the steering. Experimental results using real image sequences show the effectiveness of our method.
Keyword(in Japanese) (See Japanese page)
Keyword(in English) obstacle detection / motion parallax / ITS / tracking
Paper # PRMU2001-89
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Conference Information
Committee PRMU
Conference Date 2001/9/6(1days)
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Paper Information
Registration To Pattern Recognition and Media Understanding (PRMU)
Language JPN
Title (in Japanese) (See Japanese page)
Sub Title (in Japanese) (See Japanese page)
Title (in English) Obstacle Detection based on Virtual Plane Tracking using Single Camera Mounted on Vehicle
Sub Title (in English)
Keyword(1) obstacle detection
Keyword(2) motion parallax
Keyword(3) ITS
Keyword(4) tracking
1st Author's Name Ryuzo OKADA
1st Author's Affiliation Multimedia Laboratory, Corporate Research & Development Center, Toshiba Corp.()
2nd Author's Name Yasuhiro TANIGUCHI
2nd Author's Affiliation Multimedia Laboratory, Corporate Research & Development Center, Toshiba Corp.
3rd Author's Name Kazunori ONOGUCHI
3rd Author's Affiliation Multimedia Laboratory, Corporate Research & Development Center, Toshiba Corp.
Date 2001/9/6
Paper # PRMU2001-89
Volume (vol) vol.101
Number (no) 302
Page pp.pp.-
#Pages 8
Date of Issue