An Efficient Algorithm for Forward Collision Warning Using Low Cost Stereo Camera & Embedded System on Chip
An Efficient Algorithm for Forward Collision Warning Using Low Cost Stereo Camera & Embedded System on Chip
复制标题
使用低成本立体相机进行前向碰撞警告的有效算法
DOI：
10.14738/aivp.41.1582
复制
发表时间：
2016
期刊：
影响因子：
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通讯作者：
S. Vunnam
中科院分区：
文献类型：
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作者：
M. Rajan;Prabhudev Patil;S. Vunnam
汽车中的前向碰撞警告（FCW）系统提供警报以帮助驾驶员避免后侧碰撞。这些设备目前使用雷达作为主要传感器。成像传感器分辨率的提高、硬件芯片组的处理能力以及机器视觉算法的进步推动了基于相机的功能。本文讨论了一种基于立体摄像机的FCW算法，该算法使用一对摄像机来感知前向碰撞情况。基于立体相机的设备克服了使用单个相机进行距离测量的缺点，同时与雷达传感器相比成本更低。本文提供了一个概述的系统，使用的传感器，和细节，包括新的最先进的算法，检测车辆和计算距离，以及如何设计的算法，以满足严格的真实的时间性能参数的低成本多核嵌入式硬件平台负担得起。新的增强直方图的示意图算法检测车辆的存在，在不同的规模和姿态。高效的立体匹配算法，在动态亚像素级的粒度操作，提供准确的深度，这有助于准确预测碰撞的时间。经过长时间的测试，该系统能够满足新车评估计划的测试要求
Forward Collision Warning (FCW) systems in automobiles provide alerts to assist drivers in avoiding the rear-side crashes. These devices currently use, radars as the main sensor. The increasing resolution of imaging sensors, processing capability of hardware chipsets and advances in machine vision algorithms, have pushed ahead the camera-based features. This paper discusses about a stereo camera-based FCW algorithm that uses a pair of cameras for sensing forward collision situations. Stereo camera based devices overcomes the disadvantages of using single camera for distance measurements and at the same time with lesser cost compared to radar sensors. This paper provides an overview of the system, sensors used, and details including novel state of the art algorithms that detects vehicles and calculates distance from it, and how the algorithms are designed to be affordable for low cost multi core embedded hardware platform meeting stringent real time performance parameters. Novel, Enhanced Histogram of Gradients algorithm detects the presence of vehicle at different scales and postures. Highly efficient stereo matching algorithm which operates at dynamic sub-pixel level granularity provides accurate depth which helps to predict the time for collision accurately. Long testing proves that system would meet the New Car Assessment Program test requirements