Vision for longitudinal vehicle control

An important component of the drive towards intelligent vehicles is the ability to maintain a fixed distance from a lead vehicle using feedback provided by range sensors. We investigate the possibility of using stereo vision to provide the range information, in conjunction with a scanning laser radar sensor. The tracker utilizes a layered architecture wherein the bottom layer computes motion in both images using a simple correlation algorithm, and the upper level performs stereo fixation and reconstruction using an algorithm designed for active vision systems. We present details of the real-time implementation of the vision system on a network of C40 DSPs, and some initial results comparing the quality of range measurements provided by a vision system with the laser radar system.

[1]  Robert C. Bolles,et al.  Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography , 1981, CACM.

[2]  Peter J. Burt,et al.  Object tracking with a moving camera , 1989, [1989] Proceedings. Workshop on Visual Motion.

[3]  Ernst D. Dickmanns,et al.  Recursive 3-D Road and Relative Ego-State Recognition , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[4]  Olivier Faugeras,et al.  3D Dynamic Scene Analysis , 1992 .

[5]  Chris Harris,et al.  Tracking with rigid models , 1993 .

[6]  Paul A. Beardsley,et al.  Robust Vision , 1994, BMVC.

[7]  Carlo Tomasi,et al.  Good features to track , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[8]  Olivier D. Faugeras,et al.  A Stability Analysis of the Fundamental Matrix , 1994, ECCV.

[9]  Jitendra Malik,et al.  Robust Multiple Car Tracking with Occlusion Reasoning , 1994, ECCV.

[10]  David W. Murray,et al.  A unifying framework for structure and motion recovery from image sequences , 1995, Proceedings of IEEE International Conference on Computer Vision.

[11]  Ian D. Reid,et al.  Transfer of fixation for an active stereo platform via affine structure recovery , 1995, Proceedings of IEEE International Conference on Computer Vision.

[12]  Andrew Zisserman,et al.  Robust detection of degenerate configurations for the fundamental matrix , 1995, Proceedings of IEEE International Conference on Computer Vision.

[13]  Stephen M. Smith,et al.  ASSET-2: real-time motion segmentation and shape tracking , 1995, Proceedings of IEEE International Conference on Computer Vision.

[14]  H Kikuchi,et al.  Development of Laser Radar for Radar Brake System , 1995 .

[15]  Jitendra Malik,et al.  A real-time approach to stereopsis and lane-finding , 1996, Proceedings of Conference on Intelligent Vehicles.

[16]  Jana Kosecka,et al.  Vision-based lateral control of vehicles , 1997, Proceedings of Conference on Intelligent Transportation Systems.

[17]  Jitendra Malik,et al.  A real-time computer vision system for measuring traffic parameters , 1997, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition.