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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...
Detecting roads using monocular vision is a very challenging task as the detection algorithm must be able to deal with complex real-road scenes. In this paper, we describe an algorithm for general path segmentation. There are three main technical contributions of the approach. First, a path segmentation framework is presented, which formulates road detection as a Bayesian posteriori estimation problem...
In this paper, a real-time vehicle detection system is designed and implemented on an FPGA (Field Programmable Gate Array). The system is composed of an infrared camera and an image acquisition and processing board developed by our research team. An FPGA chip and a DSP chip are embedded in the image board as the major calculation units, which make realtime computation possible. First, edge features...
This study develops a real-time drowsiness detection system based on grayscale image processing and PERCLOS to determine if the driver is fatigued. The proposed system comprises three parts: first, it calculates the approximate position of the driver's face in grayscale images, and then uses a small template to analyze the eye positions, second, it uses the data from the previous step and PERCLOS...
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,...
Road marking is a key visual cue for driving in structured environments like highways and urban roads. Road marking detection plays an important role in advanced driver assistant systems and autonomous driving. Robust road marking detection is challenging for the variation of road scenes, the degradation of the markings and the changes of the illumination. Traditional algorithms mainly use the grayscale...
Being robust to changeable illumination and shadow are essential requirements of a practical vehicle counting system. In this paper, we come up with a method that detects vehicle by analyzing the state of laser line projected on lane. In addition, we use the entropy of histogram of oriented gradients (HOG) descriptor extracted from the region of interest (ROI) to quantify area percent of vehicle in...
Recently, researches about Forward Collision Warning (FCW) technology has become one of the main parts of the development of Advanced Driver Assistance Systems (ADAS) to increase the road safety and develop autonomous vehicles. This paper presents a research about FCW based on monocular vision, which consists of two processes: vehicle detection and vehicle tracking. In the vehicle detection process,...
Text detection and communication in the automotive context has attracted the attention of researchers only over the past few years. Detecting text in the automotive context, as opposed to the detection of text of printed pages, imposes additional challenges, such as the presence of obstacles, blurry frames, speedy vehicles, etc. In this paper, we present an in-vehicle real-time system able to localize...
This paper presents the performance comparison for lane detection and tracking using two techniques; Hough transform and color thresholding. Hough transform includes the following steps: gray scale conversion, edge detection, Hough space accumulation and un-Hough step to draw line. Color thresholding algorithm comprises color thresholding, morphology filtering and drawing tracking label. The results...
The use of vehicles in our life is increasing exponentially day by day and as increasing vehicles are violating the traffic rules, theft of vehicles, entering in restricted areas, high number of accidents lead to increase in the crime rates linearly. For any vehicle to be recognized, vehicle license plate detection will play a major significant role in this active world. For finding vehicles commonly...
In order to meet the requirements of real time and effectiveness, a multi-feature front vehicle detection algorithm based on video image is proposed. Firstly, the proposed algorithm uses the edge detector algorithm based on wavelet transform to obtain the road mark for reducing the detection region. Secondly, the threshold segmentation algorithm based on weight factor is used for image segmentation...
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...
Fog is a natural and meteorological phenomenon that seems to be very dangerous for road driving. In its presence, the driver has a high perturbation in his field of view and must redouble vigilance. Therefore, it's primary to detect its presence to be able to adapt any advanced driver assistance system according to the density of fog. In this paper, we present a new local approach for detecting daytime...
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...
The paper is focused on the description of modern image processing methods within vehicles with orientation on Lane Departure Warning Systems (LDWS), which are a part of modern Cooperative-Intelligent Transportation Systems (C-ITS). A solution is described for searching of horizontal traffic signs using a segmentation method based on Hough transform. The practical part states the results of software...
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...
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