Overtaking Vehicle Detection Using Implicit Optical Flow
نویسنده
چکیده
We describe an optical flow based obstacle detection system for use in detecting vehicles approaching the blind spot of a car on highways and city streets. The system runs at near frame rate (8-15 frames/second) on PC hardware. We will discuss the prediction of a camera image given an implicit optical flow field and comparison with the actual camera image. The advantage to this approach is that we never explicitly calculate optical flow. We will also present results on digitized highway images, and video taken from Navlab 5 while driving on a Pittsburgh highway. INTRODUCTION Many active methods of obstacle detection such laser, radar, and sonar may not be possible in the Automated Highway System due to interference between vehicles. For instance, two automated vehicles operating near each other may have to coordinate radar frequencies to avoid interfering with each other. While these problems can be solved, they present a great challenge. Therefore, it is worthwhile to investigate completely passive approaches, such as vision, for obstacle detection. While vision generally cannot provide the accuracy , resolution, and speed of a high end laser range finder, an effective single camera vision system can be built cheaply and operate with relatively minimal computational resources.
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