Authors:
Kazunori Onoguchi
and
Takahito Sato
Affiliation:
Hirosaki University, Japan
Keyword(s):
IPM, Optical Flow, Distance Measurement, Backup Camera, ITS.
Related
Ontology
Subjects/Areas/Topics:
Applications
;
Computer Vision, Visualization and Computer Graphics
;
Human-Computer Interaction
;
Methodologies and Methods
;
Motion and Tracking
;
Motion, Tracking and Stereo Vision
;
Pattern Recognition
;
Physiological Computing Systems
;
Robotics
;
Software Engineering
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 ro
bust to changes in the appearance of the texture on the side wall that occur
when a vehicle moves along a road.
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