Front Vehicle Detection Research Articles

Front vehicle detection based on improved fusion method for lidar and visual image

In order to ensure the detection accuracy, an improved adaptive weighted (IAW) method is proposed in this paper to fuse the data of images and lidar sensors for the vehicle object’s detection. Firstly, the IAW method is proposed in this paper and the first simulation is conducted. The unification of two sensors’ time and space should be completed at first. The traditional adaptive weighted average method (AWA) will amplify the noise in the fusion process, so the data filtered with Kalman Filter (KF) algorithm instead of with the AWA method. The proposed IAW method is compared with the AWA method and the Distributed Weighted fusion KF algorithm in the data fusion simulation to verify the superiority of the proposed algorithm. Secondly, the second simulation is conducted to verify the robustness and accuracy of the IAW algorithm. In the two experimental scenarios of sparse and dense vehicles, the vehicle detection based on image and lidar is completed, respectively. The detection data is correlated and merged through the IAW method, and the results show that the IAW method can correctly associate and fuse the data of the two sensors. Finally, the real vehicle test of object vehicle detection in different environments is carried out. The IAW method, the KF algorithm, and the Distributed Weighted fusion KF algorithm are used to complete the target vehicle detection in the real vehicle, respectively. The advantages of the two sensors can give full play, and the misdetection of the target objects can be reduced with proposed method. It has great potential in the application of object acquisition.

Front vehicle detection based on multi-sensor information fusion

Front vehicle detection based on multi-sensor information fusion

Application of Advanced Driver-Assistance Systems in Police Vehicles

Motor vehicle crashes are one of the leading causes of injuries and deaths for police officers. Advanced driver-assistance systems (ADAS) are driving control systems that have been found to improve civilian drivers’ safety; however, the impact of ADAS on police officers’ driving safety has yet to be investigated thoroughly. Disparities between driver states and tasks performed while driving between police and civilian drivers necessitate this distinction. This study identified the types of ADAS used in police vehicles, their impact on officers’ safety, and proposed potential future ADAS features to be implemented in police vehicles. A systematic literature review was conducted using Google Scholar, Compendex, Web of Science, Transport Research International Documentation (TRID), and Google Patents databases to identify the most prevalent police vehicles used in the U.S., available ADAS features in those vehicles, and the impact of ADAS on officers’ safety. A list of recommended ADAS features was developed based on the review of literature, authors’ knowledge and experience in the field, and the findings of an online survey with 73 police officers. Results indicated the addition of multiple ADAS features including the front vehicle detection system, intersection collision avoidance, evasive steering systems, left turn assist, traffic sign detection system, traffic jam assist, two lane and lane-ending detection, wrong-way alert, and autonomous highway driving features have the potential to improve officer safety and performance while driving. However, there was a void of studies focused on ADAS effects on police driving safety which needs to be addressed in future investigations.

Front Vehicle Detection Algorithm for Smart Car Based on Improved SSD Model

Vehicle detection is an indispensable part of environmental perception technology for smart cars. Aiming at the issues that conventional vehicle detection can be easily restricted by environmental conditions and cannot have accuracy and real-time performance, this article proposes a front vehicle detection algorithm for smart car based on improved SSD model. Single shot multibox detector (SSD) is one of the current mainstream object detection frameworks based on deep learning. This work first briefly introduces the SSD network model and analyzes and summarizes its problems and shortcomings in vehicle detection. Then, targeted improvements are performed to the SSD network model, including major advancements to the basic structure of the SSD model, the use of weighted mask in network training, and enhancement to the loss function. Finally, vehicle detection experiments are carried out on the basis of the KITTI vision benchmark suite and self-made vehicle dataset to observe the algorithm performance in different complicated environments and weather conditions. The test results based on the KITTI dataset show that the mAP value reaches 92.18%, and the average processing time per frame is 15 ms. Compared with the existing deep learning-based detection methods, the proposed algorithm can obtain accuracy and real-time performance simultaneously. Meanwhile, the algorithm has excellent robustness and environmental adaptability for complicated traffic environments and anti-jamming capabilities for bad weather conditions. These factors are of great significance to ensure the accurate and efficient operation of smart cars in real traffic scenarios and are beneficial to vastly reduce the incidence of traffic accidents and fully protect people’s lives and property.

Front vehicle detection based on multi-sensor fusion for autonomous vehicle

Front vehicle detection based on multi-sensor fusion for autonomous vehicle

Data-Driven Based Tiny-YOLOv3 Method for Front Vehicle Detection Inducing SPP-Net

In order to solve the problem of low recognition rate and low real-time performance of vehicle detection in complex road environment, a data-driven forward vehicle detection algorithm based on improved tiny-YOLOv3 is proposed. Based on tiny-YOLOv3, the context feature information is combined to increase the two scale detections of tiny-YOLOv3 to three. The spatial pyramid pooling (SPP) module is added to increase the number of feature channels to improve the network feature extraction ability. According to the dense arrangement of vehicles on the horizontal axis in the road image ahead, we change the grid size of tiny-YOLOv3 and increase the number of candidate boxes on the horizontal axis. In addition, combined with the characteristics of the vehicle size in the road image ahead, K-means clustering method is used to select the appropriate number and size of target candidate boxes. We obtain the optimal detection model by multi-scale training of the improved network. The experimental results show that the average accuracy of the improved algorithm on the KITTI datasets is 91.03%, which is 7.12% higher than that of tiny-YOLOv3. And the detection speed of improved network is 144 frames/s, which meets the real-time requirements.

Front-Vehicle Detection in Video Images Based on Temporal and Spatial Characteristics.

Assisted driving and unmanned driving have been areas of focus for both industry and academia. Front-vehicle detection technology, a key component of both types of driving, has also attracted great interest from researchers. In this paper, to achieve front-vehicle detection in unmanned or assisted driving, a vision-based, efficient, and fast front-vehicle detection method based on the spatial and temporal characteristics of the front vehicle is proposed. First, a method to extract the motion vector of the front vehicle is put forward based on Oriented FAST and Rotated BRIEF (ORB) and the spatial position constraint. Then, by analyzing the differences between the motion vectors of the vehicle and those of the background, feature points of the vehicle are extracted. Finally, a feature-point clustering method based on a combination of temporal and spatial characteristics are applied to realize front-vehicle detection. The effectiveness of the proposed algorithm is verified using a large number of videos.

Front vehicle detection based on parallel Blob detection using quad-pipeline on FPGA

Real-time front vehicle detection is one of the important topics in intelligent transport systems. FPGA is an effective hardware device for high performance computing. This paper describes real-time front vehicle detection using quad-pipeline image processing on FPGA for intelligent transport systems. Front vehicle detection is implemented based on tail lights detection and white lines detection. When the two red Blobs of tail lights are detected between the two white line Blobs, the front vehicle is determined. For achieving real-time image processing on FPGA, the image is divided into four parts and the four image processing are realized by four-stage-pipeline. In detail, tail lights are detected using two pipelines, and white lines are detected using the other two pipelines. The experimental results show that the quad-pipeline system can detect a vehicle up ahead in 124.8 μs on Artix7, which is 1.91 times faster than the dual-pipeline one.

Front vehicle detection based on parallel Blob detection using quad-pipeline on FPGA

Real-time front vehicle detection is one of the important topics in intelligent transport systems. FPGA is an effective hardware device for high performance computing. This paper describes real-time front vehicle detection using quad-pipeline image processing on FPGA for intelligent transport systems. Front vehicle detection is implemented based on tail lights detection and white lines detection. When the two red Blobs of tail lights are detected between the two white line Blobs, the front vehicle is determined. For achieving real-time image processing on FPGA, the image is divided into four parts and the four image processing are realized by four-stage-pipeline. In detail, tail lights are detected using two pipelines, and white lines are detected using the other two pipelines. The experimental results show that the quad-pipeline system can detect a vehicle up ahead in 124.8 μs on Artix7, which is 1.91 times faster than the dual-pipeline one.

Real-time vehicle detection and tracking using improved histogram of gradient features and Kalman filters

Intelligent transportation systems and safety driver-assistance systems are important research topics in the field of transportation and traffic management. This study investigates the key problems in front vehicle detection and tracking based on computer vision. A video of a driven vehicle on an urban structured road is used to predict the subsequent motion of the front vehicle. This study provides the following contributions. (1) A new adaptive threshold segmentation algorithm is presented in the image preprocessing phase. This algorithm is resistant to interference from complex environments. (2) Symmetric computation based on a traditional histogram of gradient (HOG) feature vector is added in the vehicle detection phase. Symmetric HOG feature with AdaBoost classification improves the detection rate of the target vehicle. (3) A motion model based on adaptive Kalman filter is established. Experiments show that the prediction of Kalman filter model provides a reliable region for eliminating the interference of shadows and sharply decreasing the missed rate.

Vehicle Detection Method for Intelligent Vehicle at Night Time Based on Video and Laser Information

Front vehicle detection technology is one of the hot spots in the advanced driver assistance system research field. This paper puts forward a method for front vehicles detection based on video-and-laser-information at night. First of all, video images and laser data are pre-processed with the region growing and threshold area expunction algorithm. Then, the features of front vehicles are extracted by use of a Gabor filter based on the uncertainty principle, and the distances to front vehicles are obtained through laser point cloud. Finally, front vehicles are automatically classified during identification with the improved sequential minimal optimization algorithm, which was based on the support vector machine (SVM) algorithm. According to the experiment results, the method proposed by this text is effective and it is reliable to identify vehicles in front of intelligent vehicles at night.

A Front Vehicle Detection Algorithm for Intelligent Vehicle Based on Improved Gabor Filter and SVM

Front Vehicle Detection is the key and difficult point of the key technology research for the intelligent vehicle. In this paper the digital image is firstly binarized through the image enhancement, threshold segmentation and noise eliminating along with recent patents described. Then hypothesis generation is done according to the structure, shape, aspect ratio of the vehicle and shadow at the bottom of the vehicle. On this basis, features extraction is performed with a Gabor features extraction method based on the improved features weightings for the selected vehicle samples and background samples. The extracted features vector is regarded as the input of the support vector machine (SVM) for training. Finally, the trained SVM classifier is used to conduct the vehicle classification and recognition. Thus the vehicle detection is completed. The experimental results show that the approach can improve the recognition rate and the robustness of preceding vehicle detection for the intelligent vehicle. Keywords: Computer vision, intelligent vehicle, SVM, vehicle detection.

Front and Rear Vehicle Detection Using Hypothesis Generation and Verification

Front and Rear Vehicle Detection Using Hypothesis Generation and Verification

Combining Front Vehicle Detection with 3D Pose Estimation for a Better Driver Assistance

Driver assistant systems enhance traffic safety and efficiency. The accurate 3D pose of a front vehicle can help a driver to make the right decision on the road. We propose a novel real-time system to estimate the 3D pose of the front vehicle. This system consists of two parallel threads: vehicle rear tracking and mapping. The vehicle rear is first identified in the video captured by an onboard camera, after license plate localization and foreground extraction. The 3D pose estimation technique is then employed with respect to the extracted vehicle rear. Most current 3D pose estimation techniques need prior models or a stereo initialization with user cooperation. It is extremely difficult to obtain prior models due to the varying appearance of vehicles' rears. Moreover, it is unsafe to ask for drivers' cooperation when a vehicle is running. In our system, two initial keyframes for stereo algorithms are automatically extracted by vehicle rear detection and tracking. Map points are defined as a collection of point features extracted from the vehicle's rear with their 3D information. These map points are inferences that relate the 2D features detected in following vehicles' rears with the 3D world. The relative 3D pose of the onboard camera to the front vehicle rear is then estimated through matching the map points with point features detected on the front vehicle rear. We demonstrate the capabilities of our system by testing on real-time and synthesized videos. In order to make the experimental analysis visible, we demonstrated an estimated 3D pose through augmented reality, which needs accurate and real-time 3D pose estimation.