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A method to extract passable area using stereo measurement and projective transformation for small vehicles

Published: 08 March 2012 Publication History

Abstract

Road environment recognition is important for safe and easy driving. Various methods which use monocular imaging are proposed for driving assistance on roads such as highways [7]. These methods use road information such as white lines. However, it is difficult to distinguish the passable area from public roads which include obstacles using the 'density pattern' of a monocular image of a complicated road. In this research, we propose a method to extract the passable area using stereo images.
First, road area is presumed using stereo measurement, the principle of epipolar constraint, and Hough transformation. (where, we assumed the road area is plane). This way, the corresponding points that represent the road area in the stereo images are obtained. Second, the parameters of projective transformation are calculated using the corresponding points and transformed into a projective transformation image from the base image (right image). Finally, the passable area is extracted using the difference between the projective transformation image (right image) and the base image (left image).

References

[1]
Suguru Noguchi and Masatoshi Okkutomi. Computation of Homography Matrix for Road Plane Using Stereo Images. Computer Vision and Image Media. 97(114), 23--30, (Nov 1997).
[2]
Yoshiyuki Shimizu, Naoya Ohta, and Kenichi Kanatani. Optimal Homography Computation Program with a Reliability Measure. Information Processing Society of Japan. 98(46), 33--40,(May 1998).
[3]
Masato Kazui, Miki Haseyama., and Hideo Kitajima. A Study of the Estimation of Curved Lane Markings Based on a Hough Transform. The Institute of Image Information and Television Engineers. 24(78), 85--90, (Dec. 2000).
[4]
Masatoshi Okutomi, Katsuyuki Nakano, Junichi Maruyama, and Tomoaki Hara. Continuous Estimation of Planar Region for Visual Navigation Using Sequential Stereo Images. Information Processing Society of Japan. 43(4), 1061--1069, (Apr 2002).
[5]
Takaaki Endo, Akihiro Katayama, Hideyuki Tamura, and Michitaka Hirose. Image Interpolation Method for Building Image-Based Large-Scale Virtual Space. The Virtual Reality Society of Japan. 7(2), 185--192, (Jun 2002).
[6]
Junya Ueno, and Keiji Saneyoshi. Robust Detection of Road Surface by Stereo Vision. 14th Robotics Symposia. (2009).
[7]
Hiroyuki Isobe, and Yasushi Nakamura. Driving Support System Using In-Vehicle Monocular Camera and Image Processing. The bulletin of Hiroshima Institute of Technology. 43, 317--322, (2009).

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cover image ACM Other conferences
HCCE '12: Proceedings of the 2012 Joint International Conference on Human-Centered Computer Environments
March 2012
277 pages
ISBN:9781450311915
DOI:10.1145/2160749
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

Sponsors

  • Shizuoka University in Hamamatsu: Shizuoka University in Hamamatsu
  • University of Aizu: University of Aizu

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 08 March 2012

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Author Tags

  1. Hough transformation
  2. extracting passable area
  3. image measurement
  4. image processing
  5. obstacle detection
  6. projective transformation
  7. small vehicle
  8. stereo measurement
  9. stereo vision

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  • Research-article

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HCCE '12
Sponsor:
  • Shizuoka University in Hamamatsu
  • University of Aizu

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HCCE '12 Paper Acceptance Rate 48 of 81 submissions, 59%;
Overall Acceptance Rate 48 of 81 submissions, 59%

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