Sun, Z.-T.Z.-T.SunLI-CHEN FUHuang S.-S.2020-05-042020-05-042002https://scholars.lib.ntu.edu.tw/handle/123456789/488931https://www.scopus.com/inward/record.uri?eid=2-s2.0-0036450568&doi=10.1109%2fIRDS.2002.1041361&partnerID=40&md5=8c488534b8390a114abf81f050e5e638Applying computer technology to vehicle driving has been studied for many years. Many university labs, governmental organizations, and private companies in the world have spent a lot of efforts on the so-called ITS (Intelligent Transportation Systems). In this research field, obstacle detection plays an important role in assisting drivers with warning mechanism when some dangerous situations may happen. In this paper, we propose a fast method for detecting and tracking bikes, pedestrians, and vehicles in front of a moving vehicle. In order to detect bikes and pedestrians efficiently, we apply a simplified fast stereovision method to estimate their approximate positions. On the other hand, we apply the so-called sign pattern technique to estimate the vehicle positions. After that, different methods are used to classify and confirm different kinds of obstacles for adapting their heterogeneity.[SDGs]SDG11Accident prevention; Estimation; Motor transportation; Obstacle detectors; Position measurement; Stereo vision; Intelligent transportation systems; Obstacle detection; Sign pattern technique; Computer visionjournal article10.1109/IRDS.2002.10413612-s2.0-0036450568