Generic Obstacle Detection for Backing-Up Maneuver Safety Based on Inverse Perspective Mapping and Movement Compensation

• Main Authors: Lee, Jung-Chien, 李嶸健
• Other Authors: Lin, Chin-Teng
• Format: Others
• Language: en_US
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/18861708969329018264

碩士 === 國立交通大學 === 生醫工程研究所 === 99 === The number of road traffic accidents which involves the fatality and injury accidents is so much in recent years, so that the number of higher performance vehicles for safety is growing up over the world. Among of all the collision accidents between vehicle and other generalized obstacles occur most frequently. For generic obstacle detection, researchers have proposed many methods which focus on stereo vision. However, automatic obstacle detection with a single camera system mounted on a moving vehicle is still a challenging problem in vision-based safety driving support systems. In this paper, we present a monocular vision-based obstacle detection algorithm which is based on movement compensation and IPM. We proposed a novel ground movement estimation technique which is employing road detection to assist in obtaining most useful ground features in the image, and analysis the principal distribution of optical flow of these feature points, the ground movement for compensation is obtained accurately. Besides, adopting different characteristics between planar and non-planar object result from IPM to detect obstacle. In order to get more reliable detection and the nearest collision position, a vertical profile is used to locate the obstacle. Furthermore the proposed technique is to measure the distance of target how far away ego-vehicle for safety application. This system has been tested for many conditions which could occur when backing up in real life situations, and the experimental results already demonstrated the effectiveness and accurateness of the proposed obstacle detection and distance measurement technique. The objective of this paper is to improve the safety for backing up maneuver by detecting objects that can obstruct the vehicle’s driving path or anything raise out significantly from the road surface. Besides, backing up collision can be avoided effectively by marking the nearest position and indicating the distance away from our ego-vehicle.