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http://dx.doi.org/10.5302/J.ICROS.2008.14.7.679

Detection of Preceding Vehicles Based on a Multistage Combination of Edge Features and Horizontal Symmetry  

Song, Gwang-Yul (전남대학교 산업공학과(자동차연구소))
Lee, Joon-Woong (전남대학교 산업공학과(자동차연구소))
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.7, 2008 , pp. 679-688 More about this Journal
Abstract
This paper presents an algorithm capable of detecting leading vehicles using a forward-looking camera. In fact, the accurate measurements of the contact locations of vehicles with road surface are prerequisites for the intelligent vehicle technologies based on a monocular vision. Relying on multistage processing of relevant edge features to the hypothesis generation of a vehicle, the proposed algorithm creates candidate positions being the left and right boundaries of vehicles, and searches for pairs to be vehicle boundaries from the potential positions by evaluating horizontal symmetry. The proposed algorithm is proven to be successful by experiments performed on images acquired by a moving vehicle.
Keywords
vehicle detection; horizontal symmetry; vertical edge accumulation;
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