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Author |
Daniel Ponsa; Joan Serrat; Antonio Lopez |
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Title |
On-board image-based vehicle detection and tracking |
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Journal Article |
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Year |
2011 |
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Transactions of the Institute of Measurement and Control |
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TIM |
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33 |
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7 |
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783-805 |
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vehicle detection |
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Abstract |
In this paper we present a computer vision system for daytime vehicle detection and localization, an essential step in the development of several types of advanced driver assistance systems. It has a reduced processing time and high accuracy thanks to the combination of vehicle detection with lane-markings estimation and temporal tracking of both vehicles and lane markings. Concerning vehicle detection, our main contribution is a frame scanning process that inspects images according to the geometry of image formation, and with an Adaboost-based detector that is robust to the variability in the different vehicle types (car, van, truck) and lighting conditions. In addition, we propose a new method to estimate the most likely three-dimensional locations of vehicles on the road ahead. With regards to the lane-markings estimation component, we have two main contributions. First, we employ a different image feature to the other commonly used edges: we use ridges, which are better suited to this problem. Second, we adapt RANSAC, a generic robust estimation method, to fit a parametric model of a pair of lane markings to the image features. We qualitatively assess our vehicle detection system in sequences captured on several road types and under very different lighting conditions. The processed videos are available on a web page associated with this paper. A quantitative evaluation of the system has shown quite accurate results (a low number of false positives and negatives) at a reasonable computation time. |
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ADAS @ adas @ PSL2011 |
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1413 |
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Author |
Daniel Ponsa; Antonio Lopez; Joan Serrat; Felipe Lumbreras; T. Graf |
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Title |
Multiple Vehicle 3D Tracking Using an Unscented Kalman Filter |
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Miscellaneous |
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2005 |
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Proceedings of the 8th International IEEE Conference on Intelligent Transportation Systems, 1108–1113, ISBN:0–7803–9216–7 |
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vehicle detection |
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Vienna (Austria) |
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ADAS @ adas @ PLS2005 |
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615 |
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Author |
Daniel Ponsa; Antonio Lopez |
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Title |
Vehicle Trajectory Estimation based on Monocular Vision |
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Conference Article |
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2007 |
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3rd Iberian Conference on Pattern Recognition and Image Analysis, LNCS 4477 |
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587-594 |
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vehicle detection |
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Girona (Spain) |
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ADAS @ adas @ PoL2007a |
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785 |
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Daniel Ponsa; Antonio Lopez |
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Title |
Cascade of Classifiers for Vehicle Detection |
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Conference Article |
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2007 |
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Advanced Concepts for Intelligent Vision Systems, LNCS 4678, volume 1, pp. 980–989 |
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vehicle detection |
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Delft (Netherlands) |
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ADAS @ adas @ PoL2007c |
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935 |
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