Realtime obstacle detection on pitching road by area division homography

Shin Ichi Washio; Kazuo Nakazawa

doi:10.1299/kikaic.72.499

Realtime obstacle detection on pitching road by area division homography

Shin Ichi Washio, Kazuo Nakazawa

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

Detecting obstacles on road surfaces is important technology for visual navigation of automomous vehicle. So we propose the method of detecting obstacles using perspective projection with Homography matrix. By using Homography matrix, it is possible to detect obstacles on horizontally planer road only. But road is not always flat. Therefore, we expand the method for detecting obstacle on the pitching road. Analizing projection error, we divide pitching road into multi-planer and project with Homography matrix onto each area.

Original language	English
Pages (from-to)	499-505
Number of pages	7
Journal	Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	72
Issue number	2
DOIs	https://doi.org/10.1299/kikaic.72.499
Publication status	Published - 2006 Feb

Keywords

Homography Matrix
Matching
Obstacle Detection
Projection
Traffic Line

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.72.499

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KW - Projection

KW - Traffic Line

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Realtime obstacle detection on pitching road by area division homography

Abstract

Keywords

ASJC Scopus subject areas

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