Detection of moving objects in roundabouts based on a monocular system

In this paper, we present a monocular algorithm for detection of moving objects in roundabouts, developed to be used in Advanced Driver Assistance Systems (ADAS). The proposed algorithm fuses motion-based approach and appearance-based approach to overcome monocular system restrictions in object detection. It processes images sequence which is extracted from video stream of a monocular camera installed on the front left fender, close to the head lamp. The algorithm is customized based on the characteristics of traffic movement in roundabouts and it helps to have a safe entry into the roundabouts. First, the algorithm detects the independent moving features of the images and clusters them to find the moving objects. Then, it uses Haar-like features along side Soft-Cascade AdaBoost to detect the vehicles which are moving towards/away to/from the car. The solution has been tested on some validation set, and also it is used in some real drives. It is shown that the developed algorithm has an acceptable performance in roundabouts. The corresponding results and statistics are reported. (C) 2015 Elsevier Ltd. All rights reserved.