1 / 22

Lane and Vehicle Detection

Lane and Vehicle Detection. A Synergistic Approach Wenxin Peng. Structure. Lane and vehicle detection, localization and tracking . Structure. Reduce false positive results. Provide more information. Lane Detection. IPM – Inverse Perspective Mapping. World to camera transformation.

mervyn
Télécharger la présentation

Lane and Vehicle Detection

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Lane and Vehicle Detection A Synergistic Approach WenxinPeng

  2. Structure Lane and vehicle detection, localization and tracking

  3. Structure • Reduce false positive results • Provide more information

  4. Lane Detection

  5. IPM – Inverse Perspective Mapping World to camera transformation Z-direction Normalization Parallel projection

  6. IPM – Inverse Perspective Mapping Y’ Z Y eye Z’ PN X P X’ P

  7. IPM – Inverse Perspective Mapping Y’ Z Y ptEye Z’ Camera space ptAt X’ X World space

  8. IPM – Inverse Perspective Mapping Lane：http://www.youtube.com/watch?v=v3mbr-qHBKI&NR=1&feature=endscreen

  9. Steerable Filter

  10. Steerable Filter Gaussian:

  11. RANSAC-Random sample consensus

  12. RANSAC-Random sample consensus

  13. Kalman Filter

  14. Kalman Filter

  15. Car Detection

  16. Car Detection • Active learning • Particle Filter Sequencial Monte Carlo

  17. Tracking

  18. Results Typical performance of integrated lane and vehicle tracking on highway with dense traffic. Tracked vehicles in the ego-lane are marked green. To the left of the ego-lane, tracked vehicles are marked blue. To the right of the ego-lane, tracked vehicles are marked red. Note the curvature estimation.

  19. Results

  20. Results http://www.youtube.com/watch?v=ipXQFcAeovk&feature=endscreen&NR=1 http://www.youtube.com/watch?v=JmxDIuCIIcg&feature=endscreen&NR=1 http://www.youtube.com/watch?v=i6roGUznJ4A

  21. Reference • ‘Integrated Lane and Vehicle Detection, Localization, and Tracking: A Synergistic Approach’SayananSivaraman, Student Member, IEEE, and Mohan ManubhaiTrivedi, Fellow, IEEE • ‘Perspective and its Projection Transformation’, He Yuanjun (Department of Computer Science and Engineering, Shanghai Jiaotong University, Shanghai 200030,China) • 3-D Study Notes,Guohua Lin, 2012/7/11 • Wikipedia.com

  22. Thank You!

More Related