Obstacle Detection Using Projective Invariant and Vanishing Lines

Authors:
Ryuzo Okada;Yasuhiro Taniguchi;Kenji Furukawa;Kazunori Onoguchi
Affiliations:
-;-;-;-
Venue:
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Year:
2003

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Abstract

This paper presents a novel method for detecting vehicles asobstacles in various road scenes using a single on-board camera.Vehicles are detected by testing whether the motion of a set ofthree horizontal line segments, which are always on the vehicles,satisfies the motion constraint of the ground plane or that of thesurface plane of the vehicles. The motion constraint of each planeis derived from the projective invariant combined with thevanishing line of the plane that is a prior knowledge of roadscenes. The proposed method is implemented into a newly developedon-board LSI. Experimental results for real road scenes undervarious conditions show the effectiveness of the proposed method.