Citation

Toulminet G, Bertozzi M, Mousset S, Bensrhair A, Broggi A. IEEE Trans. Image Process. 2006; 15(8): 2364-2375.

Affiliation

Laboratoire Perception Systèmes Information, Université/INSA de Rouen, Mont-Saint-Aignan Cedex, France. gwenaelle.toulminet@insa-rouen.fr

Copyright

(Copyright © 2006, IEEE (Institute of Electrical and Electronics Engineers))

DOI

unavailable

PMID

16900690

Abstract

This paper presents a stereo vision system for the detection and distance computation of a preceding vehicle. It is divided in two major steps. Initially, a stereo vision-based algorithm is used to extract relevant three-dimensional (3-D) features in the scene, these features are investigated further in order to select the ones that belong to vertical objects only and not to the road or background. These 3-D vertical features are then used as a starting point for preceding vehicle detection; by using a symmetry operator, a match against a simplified model of a rear vehicle's shape is performed using a monocular vision-based approach that allows the identification of a preceding vehicle. In addition, using the 3-D information previously extracted, an accurate distance computation is performed.

Language: en