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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.

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Lane and Vehicle Detection

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  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!

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