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首页> 外文期刊>International Journal of Innovative Computing Information and Control >ROAD REGION ESTIMATION AND OBSTACLES EXTRACTION USING A MONOCULAR CAMERA
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ROAD REGION ESTIMATION AND OBSTACLES EXTRACTION USING A MONOCULAR CAMERA

机译：使用单分子相机进行道路区域估计和障碍物提取

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摘要

An obstacles detection method is proposed which employs a camera mounted on a vehicle. Although various methods of obstacles detection have already been reported, they normally detect only moving obstacles and not static obstacles, and a detected obstacle is represented by a rectangular frame that surrounds this obstacle, which does not provide shape of the obstacle. In this paper, a method is proposed for detecting obstacles on a road, irrespective of moving or static, by use of background modeling and road region detection. The output of the proposed method is the shape of obstacles. Background modeling is often used to detect moving objects when a camera is static. In this paper, we apply it to a moving camera case in order to obtain foreground images. Then we extract the road region using SVM. In this road region, we carry out region classification. We can delete all the objects which are not obstacles in the foreground images based on the result of the region classification. In the performed experiments, it is shown that the proposed method is able to extract the shape of both static and moving obstacles when a car is driving.
机译：提出了一种障碍物检测方法，该方法采用安装在车辆上的照相机。尽管已经报道了各种障碍物检测方法，但是它们通常仅检测移动的障碍物而不检测静态障碍物，并且检测到的障碍物由围绕该障碍物的矩形框表示，该矩形框不提供障碍物的形状。本文提出了一种通过背景建模和道路区域检测来检测道路上的障碍物的方法，而不论移动还是静态。所提出的方法的输出是障碍物的形状。当照相机静止时，背景建模通常用于检测运动对象。在本文中，我们将其应用于移动的相机盒中以获得前景图像。然后，我们使用SVM提取道路区域。在这条道路区域，我们进行区域分类。基于区域分类的结果，我们可以删除前景图像中所有不是障碍物的对象。在进行的实验中表明，该方法能够在汽车行驶时提取静态和动态障碍物的形状。

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  • 作者

    Shaohua Qian; Joo Kooi Tan; Hyoungseop Kim; Seiji Ishikawa; Takashi Morie; Takashi Shinomiya;

  • 作者单位

    Department of Mechanical and Control Engineering Kyushu Institute of Technology Sensuicho 1-1, Tobata, Kitakyushu 804-8550, Japan;

    Department of Mechanical and Control Engineering Kyushu Institute of Technology Sensuicho 1-1, Tobata, Kitakyushu 804-8550, Japan;

    Department of Mechanical and Control Engineering Kyushu Institute of Technology Sensuicho 1-1, Tobata, Kitakyushu 804-8550, Japan;

    Department of Mechanical and Control Engineering Kyushu Institute of Technology Sensuicho 1-1, Tobata, Kitakyushu 804-8550, Japan;

    School of Brain Science and Engineering Kyushu Institute of Technology Hibikino 2-4, Wakamatsu, Kitakyushu 804-8550, Japan;

    Department of Business Administration Japan University of Economics Sakuragaokacho 24-5, Shibuya-ku, Tokyo, Japan;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    Obstacle detection; Monocular vision; GMM; Road region detection; SVM;

    机译：障碍物检测;单眼视力GMM;道路区域检测;支持向量机;

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