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This paper presents a stereo vision system for the detection and distance computation of a preceding vehicle. It is divided in two major steps. Initially, a stereo vision-based algorithm is used to extract relevant three-dimensional (3-D) features in the scene, these features are investigated further in order to select the ones that belong to vertical(More)
ARCOS is a French research project for secure driving. It aims at improving road safety and integrates engineering, human and social sciences. This paper presents an algorithm of road obstacles detection and a self-adaptive stereo vision system that have been provided and tested in the framework of the ARCOS project. In order to face with different lighting(More)
Today's motorways utilize innovative technologies to manage a real-time traffic information database which supplies users with information via FM 107.7 radio, variable message panels and the Internet. In the future, information will be supplied directly to intelligent in-vehicle systems based on GPS technology. This data exchange will be a two-way process,(More)
In this article, we present a first approach in the conception of a vision system dedicated to the detection of vehicles in reduced visibility conditions. It is based on a self-adaptive stereo vision extractor of 3D edges or obstacle and a color detection of vehicle lights. The detection of vehicle lights uses the L*a*b* color space. The vision system(More)
In this article, we present a fast and accurate stereo vision-based system that detects and tracks road obstacles, as well as computes their 3D position and their axial motion. To do so, axial motion maps are constructed and the inclination angles of 3D straight segments are computed. 3D straight segments are obtained after the construction of 3D sparse(More)
In this article, we present a color stereo vision system conceived to detect road obstacles. Color matching algorithm based on dynamic programming is presented. This algorithm is invariant in the contrast. With this property, the gain of cameras is configured in automatic mode without decrease the performance of color matching. As a consequence, 3D edges of(More)
In this paper, we introduced the concept of (axis,width,disparity) symmetry map. It is a stereo extension of the monocular concept of (axis,width) symmetry map. In its principle, this concept can be used for the detection of any symmetric obstacle provided that its approximate width and height are known. In this paper, we used it for vehicle detection. As(More)
In this article, we present a fast and self-adaptive color stereo vision matching algorithm which is a first step in the conception of a color stereo vision system for road obstacle detection. Our color matching approach associates vertical edges points using dynamic programming. Edges points are extracted using the operator color declivity. Performance of(More)
In this article, we present a fast and self-adaptive stereo vision system for road obstacle detection. In a first step, vertical edge points are extracted using the operator color declivity. Then, vertical edge points are associated using dynamic programming based on geometric, non-reversal, uniqueness and color photometric constraints. Wrong matchings are(More)
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