Snow Side Wall Detection using a Single Camera

Kazunori Onoguchi, Takahito Sato

Abstract

In the area where it snows heavily, snow removal of a road cannot often catch up with snowfall. Especially, a community road becomes too narrow for vehicles to pass each other since snow removal is insufficient compared with a main street. To obtain this information, this paper presents the novel method to measure the distance between a vehicle and a snow wall of shoulder by a single camera. Our method creates the inverse perspective mapping (IPM) image by projecting an input image to the virtual plane which is parallel to the moving direction of the vehicle and which is perpendicular to the road surface. Then, the distance to the side wall is calculated from the histogram whose bin is the length of an optical flow detected in the IPM image. The optical flow of the IPM image is detected by a block matching and the motion of the side wall is obtained from the peak of the histogram. The narrow way is detected by results measured by several vehicles with a backup camera.Our method is robust to changes in the appearance of the texture on the side wall that occur when a vehicle moves along a road.

References

  1. A. Wedel, U. Franke, J. K. T. B. and Cremers, D. (2006). Realtime depth estimation and obstacle detection from monocular video. Pattern Recognition, Lecture Notes in Computer Science, 4174:475-484.
  2. A.J. Davison, I.D. Reid, N. D. M. and Stasse, O. (2007). Monoslm: Real-time single camera slam. IEEE Trans. on PAMI, 29(6):1052-1067.
  3. Bertozzi, M. and Broggi, A. (1997). Vision-based vehicle guidance. Computer, 30(7):49-55.
  4. C. Guo, J. Meguro, Y. K. and Naito, T. (2013). Cadas: a multimodal advanced driver assistance system for normal urban streets based on road context understanding. Proceedings of IV2013, pages 228-235.
  5. Dhond, U. R. and Aggarwal, J. K. (1989). Structure from stereo - a review. IEEE Trans. on Systems, Man and Cybernetics,, 19(6):1489-1510.
  6. Einecke, N. and Eggert, J. (2013). Stereo image warping for improved depth estimation of road surfaces. Proceedings of IV2013, pages 189-194.
  7. http://www.subaru.com/engineering/ Eyesight (2013). safety.html.
  8. Hoff, W. and Ahuja, N. (1989). Surfaces from stereo: Integrating feature matching, disparity estimation, and contour detection. IEEE Trans. on PAMI,, 11(2):121- 136.
  9. Huang, T. S. (1994). Motion and structure from feature correspondences: a review. Proceedings of the IEEE, 82(2):252-268.
  10. K. Saneyoshi, K. Hanawa, K. K. and Sogawa, Y. (1993). 3-d image recognition system for drive assist. Proceedings of IV'93, pages 60-65.
  11. Lucas, B. D. and Kanade, T. (2008). An iterative image registration technique with an application to stereo visioin. Proceedings of Image Understanding Workshop, pages 121-130.
  12. M. Enzweiler, P. Greiner, C. K. and Franke, U. (2013). Towards multi-cue urban curb recognition. Proceedings of IV2013, pages 902-907.
  13. M. Michael, J. Salmen, J. S. and Schlipsing, M. (2013). Real-time stereo vision: Optimizing semi-global matching. Proceedings of IV2013, pages 1197-1202.
  14. Onoguchi, K. (1998). Shadow elimination method for moving object detection. Proceedings of ICPR'98, pages 583-587.
  15. Sogawa, Y. and Hanawa, K. (2002). Sensors for automobiles. forward direction recognition system with stereo vision for automobiles. Journal of the Society of Automotive Engineers of Japan (Japanese, 56(4):34-39.
  16. Suhr, J. K. and Jung, H. G. (2013). Noise resilient road surface and free space estimation using dense stereo. Proceedings of IV2013, pages 461-466.
Download


Paper Citation


in Harvard Style

Onoguchi K. and Sato T. (2014). Snow Side Wall Detection using a Single Camera . In Proceedings of the 3rd International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM, ISBN 978-989-758-018-5, pages 502-509. DOI: 10.5220/0004759105020509


in Bibtex Style

@conference{icpram14,
author={Kazunori Onoguchi and Takahito Sato},
title={Snow Side Wall Detection using a Single Camera},
booktitle={Proceedings of the 3rd International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,},
year={2014},
pages={502-509},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004759105020509},
isbn={978-989-758-018-5},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 3rd International Conference on Pattern Recognition Applications and Methods - Volume 1: ICPRAM,
TI - Snow Side Wall Detection using a Single Camera
SN - 978-989-758-018-5
AU - Onoguchi K.
AU - Sato T.
PY - 2014
SP - 502
EP - 509
DO - 10.5220/0004759105020509