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샴아디카리(Shyam Prasad Adhikari),유현중(Hyeon-joong Yoo),김형석(Hyongsuk Kim) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.1
This paper presents a real- time detection of on-road succeeding vehicles based on low level edge features and a boosted cascade of Haar-like features. At first, the candidate vehicle location in an image is found by low level horizontal edge and symmetry characteristic of vehicle. Then a boosted cascade of the Haar-like features is applied to the initial hypothesized vehicle location to extract the refined vehicle location. The initial hypothesis generation using simple edge features speeds up the whole detection process and the application of a trained cascade on the hypothesized location increases the accuracy of the detection process. Experimental results on real world road scenario with processing speed of up to 27 frames per second for 720x480 pixel images are presented.
On-Road Succeeding Vehicle Detection using Characteristic Visual Features
Shyam Prasad Adhikari(샴아디카리),Hitek Cho(조휘택),Hyeon-Joong Yoo(유현중),Changju Yang(양창주),Hyongsuk Kim(김형석) 대한전기학회 2010 전기학회논문지 Vol.59 No.3
A method for the detection of on-road succeeding vehicles using visual characteristic features like horizontal edges, shadow, symmetry and intensity is proposed. The proposed method uses the prominent horizontal edges along with the shadow under the vehicle to generate an initial estimate of the vehicle-road surface contact. Fast symmetry detection, utilizing the edge pixels, is then performed to detect the presence of vertically symmetric object, possibly vehicle, in the region above the initially estimated vehicle-road surface contact. A window defined by the horizontal and the vertical line obtained from above along with local perspective information provides a narrow region for the final search of the vehicle. A bounding box around the vehicle is extracted from the horizontal edges, symmetry histogram and a proposed squared difference of intensity measure. Experiments have been performed on natural traffic scenes obtained from a camera mounted on the side view mirror of a host vehicle demonstrate good and reliable performance of the proposed method.