Real-Time Vision-Based Vehicle Detection for Rear-End Collision Mitigation Systems

Authors:
D. Balcones;D. F. Llorca;M. A. Sotelo;M. Gavilán;S. Álvarez;I. Parra;M. Ocaña
Affiliations:
Department of Electronics, University of Alcalá, Madrid, Spain;Department of Electronics, University of Alcalá, Madrid, Spain;Department of Electronics, University of Alcalá, Madrid, Spain;Department of Electronics, University of Alcalá, Madrid, Spain;Department of Electronics, University of Alcalá, Madrid, Spain;Department of Electronics, University of Alcalá, Madrid, Spain;Department of Electronics, University of Alcalá, Madrid, Spain
Venue:
Computer Aided Systems Theory - EUROCAST 2009
Year:
2009

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Abstract

This paper describes a real-time vision-based system that detects vehicles approaching from the rear in order to anticipate possible rear-end collisions. A camera mounted on the rear of the vehicle provides images which are analysed by means of computer vision techniques. The detection of candidates is carried out using the top-hat transform in combination with intensity and edge-based symmetries. The candidates are classified by using a Support Vector Machine-based classifier (SVM) with Histograms of Oriented Gradients (HOG features). Finally, the position of each vehicle is tracked using a Kalman filter and template matching techniques. The proposed system is tested using image data collected in real traffic conditions.