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Detection and tracking of overtaking vehicles
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2013 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Detektion samt följning av omkörande fordon (Swedish)
Abstract [en]

The car has become bigger, faster and more advanced for each passing year since its first appearance, and the safety requirements have also become stricter. Computer vision based support is a growing area of safety features where the car is equipped with a mono- or stereo camera. It can be used for detecting pedestrians walking out in the street, give a warning for wild-life during a cold January night using night-vision cameras and much more.

This master thesis investigates the problem of detecting and tracking overtaking vehicles. Vehicles that overtake are only partly visible in the beginning, rendering it hard for standard detection/classification algorithms to get a positive detection. The need to quickly detect an incoming vehicle is crucial to be able to take fast counter-measure, such as braking, if needed. A novel approach referred to as the \textit{Wall detector} is suggested, detecting incoming vehicles using one-dimensional optical flow. Under the assumption that an overtaking car is moving in parallel to the ego-vehicle, both cars are moving towards the vanishing point in the image. A detection wall, consisting of several detection lines moving towards the vanishing point, is created, making all objects that are moving parallel to the ego-vehicle move along these lines.

The result is a light-weight and fast detector with good detection performance in real-time. Several approaches for the Wall detector are implemented and evaluated, revealing that a feature based approach is the best choice. The information from the system can be used as input to heavier algorithms, boosting the confidence or to initialize a track. 

Place, publisher, year, edition, pages
2013. , 52 p.
Keyword [en]
vehicle detection, mono camera, optical flow, vehicle tracking, vehicle overtaking, vehicle cut-in
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-94583ISRN: LiTH-ISY-EX--13/4689--SEOAI: oai:DiVA.org:liu-94583DiVA: diva2:633473
External cooperation
Autoliv Electronics
Subject / course
Automatic Control
Presentation
2013-06-14, Signalen, Linköpings Universitet, Linköping, 10:00 (English)
Supervisors
Examiners
Available from: 2013-06-27 Created: 2013-06-27 Last updated: 2013-06-27Bibliographically approved

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