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A typical Surround View System consists of several cameras on the vehicle perimeter. This document proposes three novel methods for the extrinsic calibration of Surround View Systems (SVS). I — The first approach uses a single calibration pattern placed step-by-step on the vehicle perimeter. II — The second approach uses several calibration patterns placed on the ground plane. The vehicle drives between...
In order to provide auxiliary information for car parking, a strategy of detecting the nearest distance between obstacle and vehicle tail was studied based on the binocular vision system and a parking assist system was designed. The captured images processed and analyzed by using binocular vision system, the image distortion was improved by using the histogram correction method, and the influence...
This paper presents a new approach for pedestrian detection in the context of Driver Assistance Systems (DAS). Given a camera with known intrinsic parameters, a flexible online calibration scheme that explores the expected road geometry is used to obtain the extrinsic parameters. With the full camera parameters, the expected geometry and size of a standing person is used to customize a baseline pedestrian...
Nowadays, electronic toll collection (ETC) is used extensively in many countries and places, but many drivers evade detection by covering, altering or otherwise obscuring their license plates. In order to detect vehicles attempting to evade paying tolls, this study aims to identify vehicles without requiring the license plate information. Unlike traditional vehicle license plate recognition, in this...
This paper describes a car detection method by combining data obtained from a laser and a camera. Data from the camera and the laser range finder (LRF) are combined after a calibration method has been performed. The calibration method defines the relative pose between camera and LRF. Car candidates are then extracted from the LRF data. The car candidate regions on the image are generated based on...
Vehicle flow volume on the motorway in the urban area is successfully used to realize traffic decision-making and guidance. In this research, we introduced some critical components into a vehicle flow detection system. In order to enhance the accuracy and instantaneity of the vehicle counting in quick-change traffic conditions, an adaptive modeling and updating method of background was proposed. In...
Multi-lane detection algorithms have been required for various vehicle safety-related applications. In most of the previous study, visual features are fundamental clues for multi-lane detection. However, since visual features vary with the illumination, weather condition and distance of the region, feature-based algorithm is restricted to the illuminant variation and laterally adjacent regions. On...
This paper presents a camera calibration method for estimating the intrinsic parameters of fish-eye cameras which would be utilized in the vehicle around view monitoring system. A calibration pattern is devised to provide the information for calibrating all of the fish-eye cameras simultaneously. The diagonal projection is applied to extract the feature points on the calibration pattern. The lens...
Due to their low price and good quality, Stereo Vision Systems (SVS) are recently considered as a key factor to gather actual information about the object of interest. Today, automated highway systems (AHS) for urban and highway environment were developed without the use of a stereo vision system. In future, the application of AHS should be extended to unstructured environments (e.g. desert) and be...
This paper details a methodology for using structured light laser imaging to create high resolution bathymetric maps of the sea floor. The system includes a pair of stereo cameras and an inclined 532nm sheet laser mounted to a remotely operated vehicle (ROV). While a structured light system generally requires a single camera, a stereo vision set up is used here for in-situ calibration of the laser...
This paper describes a target detection system on transport infrastructures, based on monocular vision, for applications in the framework of Intelligent Transportation Systems (ITS). Using structured elements of the image, a vanishing point extraction is proposed to obtain an automatic calibration of the camera, without any prior knowledge. This calibration provides an approximate size of the searched...
This paper proposes a rear vision camera-based vehicle detection system which could detect if any rear vehicle exists in ego lane and if any vehicles in adjacent lanes are overtaking. The source image is firstly applied with distortion calibration which helps the following Hough transform to detect the existence of lane lines. The rear vehicle in ego lane is detected by a combination of feature-based...
In this paper, we propose a novel and simple method for people and vehicles classification in far distance video surveillance. In this approach, moving objects are firstly segmented from background using a background subtraction technique. Secondly, edges of moving objects are extracted using canny operator. Then straight lines of edges of moving objects are extracted by Hough transform and feature...
In a visual driver-assistance system, vehicle detection is one of the major tasks. This paper presents a vehicle detection method based on multi-features fusion in the images acquired by a fisheye camera. The vehicle detection algorithm can be divided into three main steps: fisheye image calibration, generation of candidates with respect to a vehicle and verification of the candidates. In the fist...
Based on the camera calibration principle of Tsai's two stage method, a vehicle speed measurement method by video was put forward and the error analysis of camera calibration and vehicle speed measurement were carried out in this paper. Firstly, the internal and external parameters of the camera were gained based on Tsai's two stage method. Secondly, the displacement offset of the same vehicle's feature...
In this paper we present a method to calibrate the extrinsic parameters of a monocular camera on a moving vehicle. The method is based on a homography between two camera shots. Therefore, only the road surface has to be visible in the pair of images. A reasonable definition of the vehicle coordinate system in combination with the use of epipolar geometry reduces the complexity to parameterize the...
The research of feature corner recognition for the calibration target is a crucial area for a vision-based measurement system. For the disability of detecting the corner's location in a vehicle test system accurately, the theoretical errors based on Harris algorithm are analyzed. Experimental results show that the method can not be used in the vision-measured field as the corner cluster phenomenon...
This paper describes a newly developed combined calibration method for laser scanner and monocular vision in real-time driving environment recognition system. First, a special right angled isosceles triangle calibration board was designed to calibrate the extrinsic parameters of laser scanner including mounting height and pitch, in this way the laser points can be converted into the vehicle coordinate...
Most approaches to vehicle tracking have adopted a single calibrated camera for the task, which leads to an under-conditioned problem. We present a surveillance system for on-line vehicle tracking based on two cameras and structure from motion (SfM). Our surveillance system starts by tracking feature points. A novel matching scheme is proposed that allows a subset of feature points to be corresponded...
There is a persistent need in the oce??anographie community for accurate three dimensional reconstructions of seafloor structures. To meet this need underwater mapping techniques have expanded to include the use of stereo vision and high frequency multibeam sonar for mapping scenes 10's to 100's of square meters in size. Both techniques have relative advantages and disadvantages that depend on the...
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