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Computation of Visual Rear Ground Clearance of vehicles is an important computer vision application. This problem is challenging as the road and vehicle rear bumper may have subtle appearance differences, vehicle motion is on uneven surfaces and there are real-time considerations. In this paper a method is presented to compute the Visual Rear Ground Clearance of a vehicle from its rear view video...
This paper describes a real-time method for building 3D feature models of an object of interest, e.g. a vehicle. The model generation works unsupervised and consists of four recursive steps. The first two steps identify the object of interest and extract the object-related sensor data. In the third and fourth step, prominent features are detected and integrated into a common 3D feature model. This...
Real-time video analysis at the edge of the network is very promising to significantly improve public safety, e.g., dangerous accidents detection and find a missing person. Simply uploading the video stream to the cloud for analysis costs too much energy and network bandwidth to an energy-limited camera. Hence we propose EVAPS (Edge Video Analysis for Public Safety), which distributes the computing...
In the paper, a near-infrared-ray (NIR) and side-view video based low-complexity drowsy driver detection system is developed for day and night applications. The proposed system detects drowsy conditions effectively whether or not glasses. To reduce the redundant computations, the pre-defined ROI (region of interest) is used at the procedures of face, glasses bridge, eyes, and nose feature detections...
We proposed a Bayesian farmework with the goal to enhance the performance of region proposals generated by Edgeboxes for vehicles. We proposed an innovative objectness measure that combines several geometrical characteristics of proposals into a Bayesian framework. Our method exploits Bayesian to respectively integrate the initial score, aspect ratio and several 3D features related to depth information...
The goal of region proposal approaches is to decrease the hunting zone for classifiers. An innovative objectness measure that combines several characteristics of proposals in a Bayesian framework is explicitly presented in this paper. We try to use Bayesian to respectively integrate four different features of proposals, and employ the posterior probability of positive samples as new score to guide...
We extract 3D curb from video sequence, using a single camera equipped with fish-eye lens and located at the front/rear of the vehicle. The challenge in extracting curbs from images lies in their small size and their lack of texture. We show that by appropriately exploiting appearance features, 3D geometry, and temporal information, one can reliably detect and localize the curbs in the 3D scene. The...
Distance estimation for marine vessels is of vital importance to unmanned ship vehicles (USVs) for navigation and collision prevention. This can be achieved by means such as radar or laser sighting. However, due to constraints of the USV, it may be desired to estimate distance using a monocular camera. In this paper, we propose a method that, given a video of a marine vehicle in a maritime environment...
In the field of intelligent vehicle systems (IVS), color and edge of lane markings are important features for vision-based applications. This paper proposes a method to detect lane marking based on a fusion approach which combine color and edge lane marking information. Firstly, by knowing the vehicle speed the road surface region of interest is extracted using the typical stopping distance. Secondly,...
Automatic Number Plate Detection is the technology which is used to read vehicle number plate from an image containing a still or moving photograph of a vehicle. It is a major breakthrough in the technology which is very helpful for the law enforcements and traffic management authorities. The variation of the plate type and some environmental illuminations are considered in this paper. This technology...
Autonomous underwater vehicles (AUVs) often perform high-resolution survey missions. Such missions are often planned on low resolution bathymetry maps using offline coverage planning methods, e.g., using a standard lawn-mower trajectory that is adapted to the coarse-resolution representation of the terrain. We present in this paper an approach to adapt the exploration online during the mission, namely...
This contribution describes a system for accurate, robust and fast six degrees-of-freedom object pose estimation based on multi-feature models and a recursive filtering approach in the context of autonomous vehicle recharging. Feature measurements are integrated sequentially to allow full control over the feature detection algorithms and the influence on the estimate. This makes the system able to...
Simple perspective transforms are used in Advanced Driver Assistance Systems (ADAS) in vehicles for converting captured images of lateral, front, and rear views into a synthesized top-view image, which displays the scene as viewed from above the vehicle. These transforms, however, are typically derived using a basic calibration procedure that is only capable of correctly mapping ground-plane points...
This paper proposes and validates a real-time on-road vehicle detection system, which uses a single camera for the purpose of intelligent driver assistance. A three-step vehicle detection framework is presented to detect and track the target vehicle within an image. In the first step, probable vehicle locations are hypothesized using pattern recognition. The vehicle candidates are then verified in...
This paper presents a vision based algorithm for obstacle detection and avoidance for autonomous land vehicle. For an efficient algorithm it is necessary to know the information about surrounding environment of vehicle. The whole environment is classified in two groups as obstacle and path. This classification helps to find the space for avoiding the obstacle. Data is acquired by a high resolution...
Lane detection is a critical step in advanced driver assistance systems (ADAS). The detected lane information is used by later modules of warning and controlling the differential brake and steering angle. Here we propose an efficient algorithm for detecting accurate lane inbounds under varying illumination and road conditions like curvy, straight and dashed lane markings, deterministically. The current...
This paper proposes a method to detect the lanes from the aerial videos, which is composed of two parts: image pre-processing and the lane detection. The first part, image pre-processing, mainly includes down-sampling, image binarizing and lane edge getting, and then a low resolution binary image will be gotten. The second part consists of the line parameter getting based on Hough Transform, false...
This paper proposes a method to analyse humanmade environments in order to identify ascending steps and stairs and recognize their parameters. The system uses adjustable 3D environment geometries for the detection of steps and estimates tread depth and width, riser height and yaw orientation from the camera to staircase. Those parameters are needed by humanoid robots to ensure a safe traversal of...
One of the key requirements for the evaluation of indoor localization systems is an accurate and reliable ground truth. Existing ground truth systems are often expensive due to high hardware cost and complex deployment. In this work, we present a simple yet highly accurate approach for a cost-effective ground truth system based on off-the-shelf infrastructure cameras and printable markers. We developed...
Accident prevention systems have recently been a part of many modern cars to reduce injuries and casualties on the road. However, the high cost of components and equipment have limited such safety systems to higher-end and luxury vehicles. This paper proposes an economical method of using a smartphone application for real-time lane detection and rearend collision warning system for drivers on the...
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