Abstract
This paper presents a new method of detecting on-road highway vehicles for active safety vehicle system. We combine a projective invariant technique with motion information to detect overtaking road vehicles. The vehicles are assumed into a set of planes and the invariant technique extracts the plane from the theory that a geometric invariant value defined by five points on a plane is preserved under a projective transform. Harris corners as a salient image point are used to give motion information with the normalized cross correlation centered at these points. A probabilistic criterion without demand of a heuristic factor is defined to test the similarity of invariant values between sequential frames. Because the method is very fast, real-time processing is possible for vehicle detection. Experimental results using images of real road scenes are presented.
This work was supported by Tongmyong Univ. of Information Tech. Research Fund of 2005.
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Kang, DJ., Ha, JE., Lho, TJ. (2006). A Fast Method for Detecting Moving Vehicles Using Plane Constraint of Geometric Invariance. In: Gavrilova, M., et al. Computational Science and Its Applications - ICCSA 2006. ICCSA 2006. Lecture Notes in Computer Science, vol 3982. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11751595_122
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DOI: https://doi.org/10.1007/11751595_122
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