On-road vehicle detection using optical sensors: a review

As one of the most promising applications of computer vision, vision-based vehicle detection for driver assistance has received considerable attention over the last 15 years. There are at least three reasons for the blooming research in this field: first, the startling losses both in human lives and finance caused by vehicle accidents; second, the availability of feasible technologies accumulated within the last 30 years of computer vision research; and third, the exponential growth of processor speed has paved the way for running computation-intensive video-processing algorithms even on a low-end PC in realtime. This paper provides a critical survey of recent vision-based on-road vehicle detection systems appeared in the literature (i.e., the cameras are mounted on the vehicle rather than being static such as in traffic/driveway monitoring systems).

[1]  Tomaso A. Poggio,et al.  A Trainable System for Object Detection , 2000, International Journal of Computer Vision.

[2]  Chris J. Harris,et al.  VEHICLE DETECTION AND RECOGNITION IN GREYSCALE IMAGERY , 1995 .

[3]  Reinhold Behringer,et al.  The seeing passenger car 'VaMoRs-P' , 1994, Proceedings of the Intelligent Vehicles '94 Symposium.

[4]  Pietro Perona,et al.  Unsupervised Learning of Models for Recognition , 2000, ECCV.

[5]  Hans-Hellmut Nagel,et al.  Algorithmic characterization of vehicle trajectories from image sequences by motion verbs , 1991, Proceedings. 1991 IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[6]  J. Little,et al.  Inverse perspective mapping simplifies optical flow computation and obstacle detection , 2004, Biological Cybernetics.

[7]  Robert A. MacLachlan,et al.  Safe Robot Driving in Cluttered Environments , 2003, ISRR.

[8]  Massimo Bertozzi,et al.  Stereo vision-based vehicle detection , 2000, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511).

[9]  Sadayuki Tsugawa,et al.  Vision-based vehicles in Japan: machine vision systems and driving control systems , 1994, IEEE Trans. Ind. Electron..

[10]  Andreas Kuehnle,et al.  Symmetry-based recognition of vehicle rears , 1991, Pattern Recognit. Lett..

[11]  Werner von Seelen,et al.  Image processing and behavior planning for intelligent vehicles , 2003, IEEE Trans. Ind. Electron..

[12]  Zehang Sun,et al.  A real-time precrash vehicle detection system , 2002, Sixth IEEE Workshop on Applications of Computer Vision, 2002. (WACV 2002). Proceedings..

[13]  Thomas Kalinke,et al.  An image processing system for driver assistance , 2000, Image Vis. Comput..

[14]  Massimo Bertozzi,et al.  A real-time oriented system for vehicle detection , 1997, J. Syst. Archit..

[15]  L. Davis,et al.  Real-time multiple vehicle detection and tracking from a moving vehicle , 2000, Machine Vision and Applications.

[16]  Massimo Bertozzi,et al.  Vehicle detection and localization in infra-red images , 2002, Proceedings. The IEEE 5th International Conference on Intelligent Transportation Systems.

[17]  Xuegong Zhang,et al.  A PCA classifier and its application in vehicle detection , 2001, IJCNN'01. International Joint Conference on Neural Networks. Proceedings (Cat. No.01CH37222).

[18]  Zehang Sun,et al.  Evolutionary Gabor filter optimization with application to vehicle detection , 2003, Third IEEE International Conference on Data Mining.

[19]  Takeo Kanade,et al.  A statistical method for 3D object detection applied to faces and cars , 2000, Proceedings IEEE Conference on Computer Vision and Pattern Recognition. CVPR 2000 (Cat. No.PR00662).

[20]  Narendra Ahuja,et al.  Matching Two Perspective Views , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[21]  P. Parodi,et al.  A feature-based recognition scheme for traffic scenes , 1995, Proceedings of the Intelligent Vehicles '95. Symposium.

[22]  S. Ogata,et al.  A stereo-based vehicle detection method under windy conditions , 2000, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511).

[23]  Zehang Sun,et al.  On-road vehicle detection using Gabor filters and support vector machines , 2002, 2002 14th International Conference on Digital Signal Processing Proceedings. DSP 2002 (Cat. No.02TH8628).

[24]  Ming Xie,et al.  Color modeling by spherical influence field in sensing driving environment , 2000, Proceedings of the IEEE Intelligent Vehicles Symposium 2000 (Cat. No.00TH8511).

[25]  W. D. Jones.  Building safer cars , 2002 .

[26]  Uwe Franke,et al.  Fast stereo based object detection for stop&go traffic , 1996, Proceedings of Conference on Intelligent Vehicles.

[27]  A. Broggi,et al.  A cooperative approach to vision-based vehicle detection , 2001, ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585).

[28]  Zehang Sun,et al.  Quantized wavelet features and support vector machines for on-road vehicle detection , 2002, 7th International Conference on Control, Automation, Robotics and Vision, 2002. ICARCV 2002..

[29]  Massimo Bertozzi,et al.  Self-calibration of a stereo vision system for automotive applications , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[30]  Christian Goerick,et al.  Artificial neural networks in real-time car detection and tracking applications , 1996, Pattern Recognit. Lett..

[31]  Hideo Mori,et al.  Shadow and rhythm as sign patterns of obstacle detection , 1993, ISIE '93 - Budapest: IEEE International Symposium on Industrial Electronics Conference Proceedings.

[32]  Massimo Bertozzi,et al.  GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection , 1998, IEEE Trans. Image Process..

[33]  Toshio Ito,et al.  Understanding driving situations using a network model , 1995, Proceedings of the Intelligent Vehicles '95. Symposium.

[34]  Rita Cucchiara,et al.  Vehicle Detection under Day and Night Illumination , 1999, IIA/SOCO.

[35]  S. Yuta,et al.  Obstacle Detection By Vision System For An Autonomous Vehicle , 1993, Proceedings of the Intelligent Vehicles '93 Symposium.

[36]  W. Kruger,et al.  Real-time estimation and tracking of optical flow vectors for obstacle detection , 1995, Proceedings of the Intelligent Vehicles '95. Symposium.

[37]  Charles E. Thorpe,et al.  A trinocular stereo system for highway obstacle detection , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[38]  W. Ritter,et al.  Obstacle detection based on color blob flow , 1995, Proceedings of the Intelligent Vehicles '95. Symposium.

[39]  Takeo Kanade,et al.  A Multiple-Baseline Stereo , 1993, IEEE Trans. Pattern Anal. Mach. Intell..

[40]  Zehang Sun,et al.  Boosting object detection using feature selection , 2003, Proceedings of the IEEE Conference on Advanced Video and Signal Based Surveillance, 2003..

[41]  Massimo Bertozzi,et al.  Artificial vision in road vehicles , 2002, Proc. IEEE.

[42]  John Hancock.  High-Speed Obstacle Detection for Automated Highway Applications , 1997 .

[43]  Andrea Giachetti,et al.  The use of optical flow for road navigation , 1998, IEEE Trans. Robotics Autom..

[44]  Volker Graefe,et al.  Visual recognition of obstacles on roads , 1994, IEEE/RJS International Conference on Intelligent RObots and Systems.

[45]  Thomas Kalinke,et al.  A Texture-based Object Detection and an adaptive Model-based Classification , 1998 .

[46]  Keiichi Yamada,et al.  A compact integrated visual motion sensor for ITS applications , 2003, IEEE Trans. Intell. Transp. Syst..