An Road Obstacle Detection Method Based on Monocular Measurement

Abstract:

Obstacle detection in the intelligent vehicle vision navigation system occupies a very important role. The studies for the obstacles detecting, especially Monocular Measurement from the computer vision, simplifying monocular vision system to camera projection model. Getting the conversion relation between image coordinate and the world coordinate system through the geometry derivation to establish the measurement model and achieve the obstacle measurement. The experiment proved that the error of this measurement model selected is within the acceptable range.

• Periodical: Applied Mechanics and Materials (Volumes 55-57)
• Pages: 539-544
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.55-57.539
• Online since: May 2011
• Authors: Hong Jiao Jin, Shen Lin, Shi Guang Luo
• Keywords: Monocular, Monocular Measurement, Obstacle Detection, Vision

References

[1] P. Bellutta,R. Manduchi,L. Matthles. TerrainPereePtionforDEMO111[C]. Proceedings of the IEEE Intelligent Vehicles Syn1Poslum, 2000, 326-331.

[2] Milan Sonka, Vaclav Hlavac, Roger Boyle. Image Processing, Analysis, and Machine Vision [M]. Thomson Asia Pte Led, (2002).

DOI: 10.1117/12.256634

[3] Ballard D H, Brown C M. Computer Vision [M]. Prentice-Hall, 1998, 23-27.

[4] Massimo Bertozzi, Alberto Broggi. GOLD: A parallel Real-Time Stereo Vision System for GenericObstacle and Lane Detection[C]. IEEE Transactions on Image Proeessing , 1998, 7(1): 62-81.

DOI: 10.1109/83.650851

[5] C. Thorpe, J.D. Carlson, D. Duggins, ets. Safe Robot Driving in Clucttered Environments . Proceedings of the 11th International Symposium of Robotics Research, October, (2003).