Extending the Detection Range of Vision-Based Vehicular Instrumentation

摘要

In this paper, we present a novel vision-based detection system able to extend the detection range of vehicles or mobile robots. The proposed system is used to detect and track moving targets from near-to-far ranges and covers a wide range of more than 130 m without decreasing detection accuracy. Typical examples of targets include traffic signs, vehicles, animals, and pedestrians. In this paper, the detection and tracking of moving pedestrians from near-to-far ranges is investigated. The proposed system is composed of two identical cameras. The first camera is equipped with a short focal length lens to detect and track pedestrians in near-to-mid range, and the second camera with a long focal length lens is used to detect and track pedestrians in mid-to-far range. To synchronize the detection results of both cameras and to eliminate repeated measurements, two synchronization algorithms were developed. The tracking process is applied after the detection, and it is used to track and predict the future motion and direction of pedestrian. To prevent vehicle-target collisions, two algorithms that generate alert and danger warnings are developed. A mathematical model based on the fundamental physics of the camera and lens is developed to illustrate the feasibility of our work. Finally, we conducted many experiments in large open-air parking lots and on Ottawa roads to show the applicability of our system.