Realtime obstacle detection on pitching road by area division homography

Shin Ichi Washio, Kazuo Nakazawa

Research output: Contribution to journalArticlepeer-review


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 languageEnglish
Pages (from-to)499-505
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number2
Publication statusPublished - 2006 Feb


  • 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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