dc.description.abstract | In recent years, top-view monitoring systems are becoming a practical driving aid that help reducing collision hazards by eliminating blind spots. The U.S. Department of Transportation’s National Highway Traffic Safety Administration (NHTSA) issued a rule requiring rear visibility technology in all new vehicles under 10,000 pounds by May 2018. Many of such systems provide short range views surrounding the vehicle, limiting its application to parking and reversing. In this paper, we propose a practical system for creating top-view image of the vehicle with the parking guidance line, and highlighting obstacles only relies on a wide-angle camera to capture images for analysis without sensors.
In the proposed parking guidance system, feature points on two consecutive images are extracted to match each other. First, the feature-point pairs are further pruned by Sum of Absolute Differences (SAD)。The remained pairs are then used to estimate vehicle motion parameters by a least-square error metrics, where an isometric transformation model based on the Ackermann steering geometry is proposed to describe the vehicle motion. At last, the vehicle trajectory is estimated based on the vehicle motion parameters and the parking guidance lines are drawn according to the vehicle trajectory.
In the proposed obstacle detection system, by estimating the ego-motion of the vehicle using the input image sequence of the cameras, the system is able to detect objects in the images by finding movements of features that do not correspond to ground motion relative to vehicle motion. Then confirm it by the surface normal estimation for the angle of object and ground. Parking guidance and obstacle detection are a continuous action, excluding error by probabilities. Increase the count in heat map when the object is detected, the object with high counts is marked as an obstacles, which are highlighted in the multi-view imagery to warn the driver of potential hazards. | en_US |