Collision Alert by Discriminating Motion Parameters in Successive Disparity Maps
Date Issued
2007
Date
2007
Author(s)
Liu, Pei-De
DOI
en-US
Abstract
Sensing with stereo camera, intelligent collision alert system can not only detect and display collision hot spots but also estimate the three-dimension spatial information and motion parameters for collision avoidance control. To implement the intelligent collision alert system, the techniques of edge extraction to isolate target objects, generation of edge disparity map to find the spatial information, computational visual attention to find attentive spots, region of interest determination to encompass object areas, object tracking to estimate motion parameters from successive disparity maps, and the strategy to find collision hot spots by according to the distances and motion directions of the target objects are developed and integrated as a whole. Target objects falling in the emergency zone or in the danger zone but approaching the camera are determined as the collision hot spots. In addition to making collision alert and displaying the collision hot spots on the image, the three-dimension spatial information and motion directions are estimated for collision avoidance control. The key techniques are verified with a prototype implementation. Experimental results show that the intelligent collision alert system by stereo camera sensing is feasible and practical for driver assistance of active safety.
Subjects
避碰
碰撞預警
立體視覺
視差圖
主動式安全
駕駛人輔助系統
collision avoidance
collision alert
stereovision
disparity map
active safety
driver assistance
Type
thesis
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