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Vehicle detection and tracking for visual understanding of road environments

Published online by Cambridge University Press:  10 December 2009

Arturo de la Escalera  and
Jose Maria Armingol
Arturo de la Escalera*
Affiliation:
Intelligent Systems Laboratory, Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, 28911, Leganes, Spain
Jose Maria Armingol
Affiliation:
Intelligent Systems Laboratory, Department of Systems Engineering and Automation, Universidad Carlos III de Madrid, 28911, Leganes, Spain
*
*Corresponding author. E-mail: escalera@ing.uc3m.es
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Summary

Many of the advanced driver assistance systems have the goal of perceiving the surroundings of a vehicle. One of them, adaptive cruise control, takes charge of searching for other vehicles in order to detect and track them with the aim of maintaining a safe distance and to avoid dangerous maneuvers. In the research described in this article, this task is accomplished using an on board camera. Depending on when the vehicles are detected the system analyzes movement or uses a vehicle geometrical model to perceive them. After, the detected vehicle is tracked and its behavior established. Optical flow is used for movement while the geometric model is associated with a likelihood function that includes information of the shape and symmetry of the vehicle and the shadow it casts. A genetic algorithm finds the optimum parameter values of this function for every image. As the algorithm receives information from a road detection module some geometric restrictions are applied. Additionally, a multiresolution approach is used to speed up the algorithm. Examples of real image sequences under different weather conditions are shown to validate the algorithm.

Keywords

Computer visionAdvanced driver assistance systemsObject detectionRoad vehicles
Type
Article
Information
Robotica , Volume 28 , Issue 6 , October 2010 , pp. 847 - 860
Copyright
Copyright © Cambridge University Press 2009

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