Forward obstacle detection in a lane by stereo vision
Forward obstacle detection in a lane by stereo vision
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通过立体视觉检测车道前方障碍物
DOI：
10.1109/iecon.2013.6699510
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
K. Saneyoshi
中科院分区：
文献类型：
--
作者：
Hiroaki Iwata;K. Saneyoshi
我们利用立体视觉开发了前方障碍物检测系统。该系统由基于现场可编程门阵列（FPGA）的立体声处理系统和PC机上的中央处理器（CPU）组成。通过使用基于FPGA的系统，该系统可以真实的实时处理高分辨率和高帧率的图像。因此，大视场和距离的准确性是相辅相成的。该系统通过检测路面和车道来确定可行驶的隧道。然后，可以检测隧道中的前方障碍物。通过在高速公路上的试验，证实了该系统的有效性。
We have developed the forward obstacle detection system by using stereo vision. This system consists of a combination of a stereo processing system based on a Field-Programmable Gate Array (FPGA) and Central Processing Unit (CPU) on PC. By using the FPGA-based system, the system can process images of high resolution and frame rate in real time. Therefore, large field of view and accuracy of distance go together. This system defines the drivable tunnel by detecting road surface and lane. Then, the forward obstacle in the tunnel can be detected. It was confirmed that this system works by the experiment in the expressways.