期刊
IEEE TRANSACTIONS ON IMAGE PROCESSING
卷 15, 期 8, 页码 2364-2375出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIP.2006.875174
关键词
extraction of three-dimensional (3-D) edges of obstacle; platooning; stereo vision; vehicle detection
This paper presents a stereo vision system for the detection and distance computation of a preceding vehicle. It,is divided in two major steps. Initially, a stereo vision-based algorithm is used to extract relevant three-dimensional (3-D) features in the scene, these features are investigated further in order to select the ones that belong to vertical objects only and not to the road or background. These 3-D vertical features are then used as a starting point for preceding vehicle detection; by using a symmetry operator, a match against a simplified model of a rear vehicle's shape is performed using a monocular vision-based approach that allows the identification of a preceding vehicle. In addition, using the 3-D information previously extracted, an accurate distance computation is performed.
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