Front vehicle detection method based on monocular vision

A technology of the vehicle ahead and detection method, applied in the field of intelligent vehicle assisted driving system, can solve the problems that the vehicle model is difficult to take into account all models, the model matching algorithm has a large amount of calculation, and the real-time performance of the detection method is reduced, so as to achieve high reliability and improve Robustness and good real-time effect

Active Publication Date: 2012-09-19
TIANJIN POLYTECHNIC UNIV
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Problems solved by technology

This method has been proven to be effective, but its shortcomings are also obvious
First of all, due to the diversity of car models, the shape features and aspect ratio information vary widely, and it is difficult to build a vehicle model that takes into account all models; second, due to the viewing angle, the

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  • Front vehicle detection method based on monocular vision
  • Front vehicle detection method based on monocular vision
  • Front vehicle detection method based on monocular vision

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[0057] The general flow chart of the front vehicle detection method based on monocular vision of the present invention is as follows figure 1 As shown, firstly, the grayscale image of the road conditions in front of the vehicle is preprocessed, and the bottom shadow of the vehicle is segmented from it, and then fake vehicles are filtered out by the position and geometric characteristics of the shadow at the bottom of the vehicle, and finally the unstable target is filtered out through the target tracking decision. The final vehicle inspection result. The implementation process of the present invention will be further detailed below in conjunction with the accompanying drawings.

[0058] 1. Image acquisition and preprocessing

[0059] (1) Original image acquisition

[0060] Use CMOS black and white industrial camera to collect grayscale images in real time. Set the industrial camera parameters so that the frame rate of the captured video reaches 25frames / s, and the resolution of the...

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Abstract

The invention belongs to the technical field of intelligent transportation, and relates to a front vehicle detection method based on monocular vision, which comprises the steps of: acquiring a vehicle front road condition original image, capturing a subimage, carrying out histogram equalization on the subimage, extracting a vehicle front road surface average gray threshold; obtaining a gray threshold by adopting an improved OTSU method; calculating a binarization threshold; estimating a binarization result, segmenting and reinforcing a target according to an estimation result; filtering; obtaining a key position line expressing a bottommost line in a vehicle bottom shadow, carrying out line fusion on the key position line, then extracting target information of an image to be used as a target result of a current frame; and matching the target result of the current frame with a target result of the last frame and information of a tracking target result, and carrying out classifying decision on the target result of the current frame according to a matching result, and determining a final detection result of a front vehicle of the current frame. The front vehicle detection method has the characteristics of good instantaneity, high detection accuracy rate and good robustness.

Description

technical field [0001] The invention belongs to the field of image processing, and specifically relates to a detection method capable of real-time identification of vehicles driving in front of a car in the scene of a highway or expressway, which is mainly applicable to an intelligent vehicle auxiliary driving system in the field of intelligent transportation, and belongs to the active safety technology of automobiles field. Background technique [0002] Statistical analysis of traffic accidents shows that rear-end collisions account for 30%-40% of traffic accidents, and property losses and casualties caused by rear-end collisions account for 60% of the total losses. The main danger to the driver is the vehicle in front of the road. According to the results of a study in the United States, as long as the driver's reaction time is increased by 0.555 seconds, 60% of intersection car collision accidents and 30% of car rear-end collision accidents can be reduced. Another study...

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Application Information

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IPC IPC(8): G06T7/20
Inventor 肖志涛耿磊张芳吴骏谭琦
Owner TIANJIN POLYTECHNIC UNIV
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