# A PROTOTYPE OF VISION BASED DRIVER ASSISTANCE SYSTEM by Sebastian Korczak*

Save this PDF as:

Size: px
Start display at page:

Download "A PROTOTYPE OF VISION BASED DRIVER ASSISTANCE SYSTEM by Sebastian Korczak*"

## Transcription

1 A PROTOTYPE OF VISION BASED DRIVER ASSISTANCE SYSTEM by Sebastian Korczak* This paper was originally published and printed in Proceedings of the Institute of Vehicles no. 4(90) in November 2012 (http://ip.simr.pw.edu.pl/zn/). This work is licensed under a Creative Commons AttributionShareAlike 3.0 Unported License. This copy was prepared in 4. December *Sebastian Korczak M.Sc. in mechanical engineering website: Ph.D. student at: Warsaw Institute of Technology (http://www.pw.edu.pl/engpw), The Faculty of Automotive and Construction Machinery Engineering, The Institute of Machine Design Fundamentals, Department of Mechanics.

3 2. Geometry overview Let us consider a three-dimensional space with a mathematical model of a perspective camera (fig. 1). In the center of a the global coordinate system OXYZ we put the camera center point. Camera viewport is located in (0, 0, e) and is normal to the Z axis at its center. The size of camera viewport is defined by the width w and height h. One point A in the analyzed space have a perspective projection B on the camera viewport at its Ruv coordinate system. The projection from R 3 space with the OXYZ coordinate system into R2 space with the Ruv coordinate system corresponds to an ideal image formation process in the camera or human s eye (with still optical parameters and some simplifications). In practice, a popular and simple to measure the parameter of the image from camera is the field of view angle. With signature αu, it is associated with viewport position and size with given relationship: tg αu 2 = w 2e (1) There is also a direct relationship between the camera field of view angle, lens focal length and film size or camera sensor size. In the presented projection, the coordinates Bu and Bv of the point B on viewport correspond to the coordinates Ax, Ay and Az of the point A as shown: Bu = Ax A w h e+, Bv = y e + Az 2 Az 2 R u v (2) k w A.. B αu O Y Z X h e Fig. 1. Perspective projection In the presented prototype of the vision-based system, the camera is mounted behind the car window and its main axis lies in the longitudinal plane of vehicle symmetry at β angle with respect to the horizon line (fig. 2). 86

4 Fig. 2. Camera position inside the car In the presented system geometry, the coordinates of point B in projection of the A point to the camera viewport can be calculated using equations: Bu = Ax A cos β Az sin β w h e+, Bv = y e+ Az 2 A y sin β+a z cos β 2 (3) In the above formulas, Az must be greater than zero and the following condition must be satisfied: Az tgβ Ay (4) 3. Inverse perspective transformation Figure 3 presents an example image from video recorded using the camera inside the car. To simplify the analysis of this image, an inverse perspective projection method from [8] was used. In this way, we can achieve bird s eye view from the given view at some angle. Because of the projection from two dimensional to three dimensional space, we need to add a special condition to achieve uniqueness of projection. In practice, this condition is assumption of a flat road fixed value of A y. Inverse perspective transactions can be calculated using equations: A = const., α = arctg y v ( B ) A v h y, A = z e 2e tg β+α ( v ) A z w, A = B x u 2 e ( ) (5) While programming of the presented algorithm, it is better to not use equation (5) it would generate the same number of pixels from the image scattered at a huge area of a hypothetical road. One should define the coordinate Ay of the road, the region of interest of variables Ax and Az and then for every point of road search color of the corresponding pixel from the image using equations (3). An example projection of figure 3 into bird s eye view is presented in figure 4a. Using the direct projection rather than an inverse one gives us opportunity to make image filtering, e. g. bilinear filtering presented in figure 4b. A pedestrian crossing from figure 4 is deformed due to dynamical vehicle roll and non-axial camera setup. 87

5 Fig. 3. Image from a camera inside the car a) b) Fig. 4. Camera view after inverse perspective projection: a) without filtration, b) with bilinear filtering 4. Image binarization The simplest and sometimes the most efficient method to extract information from an image is binarization, also called thresholding. This is a method of assigning one of two possible values to every pixel, where the criterion for membership is fulfillment of some conditions. Binarization criteria may include color values or their combinations. 88

7 approximation. Figure 6 shows an example of searched patches and detected road markings connected with the lines. Fig. 6. Lane markings detection: sawtooth searched patches and detected lane borders. Bird s eye view image on the background. By using the inverse perspective projection, the image and detected lines are scaled in meters with respect to aspect ratio. That makes it possible to directly calculate the lane width and position of the car on the lane (fig. 7). Analysis of the shape of the line makes it possible to distinguish a continuous lane from a dashed one, while the processing of the binarized image around the center line helps to detect double lines. a) b) Fig. 7: Detection of the lane width: a) dimensions over the image from the camera, b) visualization of the car position with respect to the lane (in scale) The lane edges just calculated can be used to define road curvature. Knowing coordinates of subsequent points along the Z axis (fig. 8), let us introduce: ai= xi+ 1 xi (4) We can assume that the line is linear if the following conditions are satisfied: i a i ±δ = d 90 (5)

8 where δ is the maximum allowed error of nonlinearity and d is a constant. The right turning line can be detected by checking inequalities: i ( a i > 0, ai a i+1 ) (6) The left turning line satisfies: i ( a i< 0, a i a i+1 ) (7) Observation of height disproportions between the neighboring ai values allows one to catch and eliminate big errors (long line brakes, pedestrian crossing). Δz Δz Δz xi xi+1 ai ai+1 xi+2 Z xi+3 X O ai+2 Fig. 8. Geometry of line curvature 6. Distance measurements The distance between two vehicles is an extremely important factor in traffic safety (knowing their speed makes it possible to gauge breaking capabilities). In the presented prototype, an edge detection method for this task was proposed. The algorithm contains simplified Prewitt operator discrete two dimensional convolution of an image with the below matrix (kernel): [ ] (8) The simplest way to detect a car on the road is to search along the line in the center of the lane to find first points generated by the edge detection algorithm, assuming that the threshold parameter was correctly selected (figure 9). By using equations (5) we 91

9 convert the point just found into global coordinates (assuming that the point we found is on the road). A significant problem of the algorithm is its sensitivity to obstacles like pedestrian crossing and other road markings. In such situations, it is recommended to use another system for marks recognition and elimination of their influence on the car detection system. Fig. 9: Image from the camera after the edge detection procedure distance measurement mark visible 7. System accuracy Because of using a perspective camera in the presented system, the position of an analyzed pixel has big influence on the calculation error. By increasing the camera field of view, it is possible for the road to occupy a smaller part of the picture the proportion of real dimension to pixel dimension is growing. The nonlinear relationship between the vertical picture coordinate and distance in the global coordinate system (equations 5) is seen in figure 4a. The accuracy of calculated dimension of the lane width or distance to the preceding vehicle can be estimated by doing other calculations that include the input errors of one or two pixels, and comparing them. In a vision-based system, strong compression should be avoided because of loss of important data, usually not visible at the first sight. The compression reduces smoothness of color transitions what can make the edge detection algorithm fail. 8. Hardware and software The presented prototype of the vision-based system was prepared to work with a cheap web camera mounted inside the car. Video stream from the camera is transferred into a laptop. The software was written in Java programming language using Processing environment (http://processing.org/). The program handles all calculations of image analysis and generates graphical and sound alerts. During the programming and test stage, any video can be used as input (from a camera or a mobile phone). Figure 10 shows the user interface screen one can also see the system at work on the following website: 92

### Automatic Labeling of Lane Markings for Autonomous Vehicles

Automatic Labeling of Lane Markings for Autonomous Vehicles Jeffrey Kiske Stanford University 450 Serra Mall, Stanford, CA 94305 jkiske@stanford.edu 1. Introduction As autonomous vehicles become more popular,

### A Reliability Point and Kalman Filter-based Vehicle Tracking Technique

A Reliability Point and Kalman Filter-based Vehicle Tracing Technique Soo Siang Teoh and Thomas Bräunl Abstract This paper introduces a technique for tracing the movement of vehicles in consecutive video

### REAL TIME TRAFFIC LIGHT CONTROL USING IMAGE PROCESSING

REAL TIME TRAFFIC LIGHT CONTROL USING IMAGE PROCESSING Ms.PALLAVI CHOUDEKAR Ajay Kumar Garg Engineering College, Department of electrical and electronics Ms.SAYANTI BANERJEE Ajay Kumar Garg Engineering

### Vision-based ACC with a Single Camera: Bounds on Range and Range Rate Accuracy

Vision-based ACC with a Single Camera: Bounds on Range and Range Rate Accuracy Gideon P. Stein Ofer Mano Amnon Shashua MobileEye Vision Technologies Ltd. MobileEye Vision Technologies Ltd. Hebrew University

### Static Environment Recognition Using Omni-camera from a Moving Vehicle

Static Environment Recognition Using Omni-camera from a Moving Vehicle Teruko Yata, Chuck Thorpe Frank Dellaert The Robotics Institute Carnegie Mellon University Pittsburgh, PA 15213 USA College of Computing

### A PHOTOGRAMMETRIC APPRAOCH FOR AUTOMATIC TRAFFIC ASSESSMENT USING CONVENTIONAL CCTV CAMERA

A PHOTOGRAMMETRIC APPRAOCH FOR AUTOMATIC TRAFFIC ASSESSMENT USING CONVENTIONAL CCTV CAMERA N. Zarrinpanjeh a, F. Dadrassjavan b, H. Fattahi c * a Islamic Azad University of Qazvin - nzarrin@qiau.ac.ir

### An Energy-Based Vehicle Tracking System using Principal Component Analysis and Unsupervised ART Network

Proceedings of the 8th WSEAS Int. Conf. on ARTIFICIAL INTELLIGENCE, KNOWLEDGE ENGINEERING & DATA BASES (AIKED '9) ISSN: 179-519 435 ISBN: 978-96-474-51-2 An Energy-Based Vehicle Tracking System using Principal

### A Study on M2M-based AR Multiple Objects Loading Technology using PPHT

A Study on M2M-based AR Multiple Objects Loading Technology using PPHT Sungmo Jung, Seoksoo Kim * Department of Multimedia Hannam University 133, Ojeong-dong, Daedeok-gu, Daejeon-city Korea sungmoj@gmail.com,

### EB Automotive Driver Assistance EB Assist Solutions. Damian Barnett Director Automotive Software June 5, 2015

EB Automotive Driver Assistance EB Assist Solutions Damian Barnett Director Automotive Software June 5, 2015 Advanced driver assistance systems Market growth The Growth of ADAS is predicted to be about

### Advanced Vehicle Safety Control System

Hitachi Review Vol. 63 (2014), No. 2 116 Advanced Vehicle Safety Control System Hiroshi Kuroda, Dr. Eng. Atsushi Yokoyama Taisetsu Tanimichi Yuji Otsuka OVERVIEW: Hitachi has been working on the development

### A Computer Vision System on a Chip: a case study from the automotive domain

A Computer Vision System on a Chip: a case study from the automotive domain Gideon P. Stein Elchanan Rushinek Gaby Hayun Amnon Shashua Mobileye Vision Technologies Ltd. Hebrew University Jerusalem, Israel

### Building an Advanced Invariant Real-Time Human Tracking System

UDC 004.41 Building an Advanced Invariant Real-Time Human Tracking System Fayez Idris 1, Mazen Abu_Zaher 2, Rashad J. Rasras 3, and Ibrahiem M. M. El Emary 4 1 School of Informatics and Computing, German-Jordanian

### Automatic Traffic Estimation Using Image Processing

Automatic Traffic Estimation Using Image Processing Pejman Niksaz Science &Research Branch, Azad University of Yazd, Iran Pezhman_1366@yahoo.com Abstract As we know the population of city and number of

### Vision-Based Pedestrian Detection for Driving Assistance

Vision-Based Pedestrian Detection for Driving Assistance Literature Survey Multidimensional DSP Project, Spring 2005 Marco Perez Abstract This survey focuses on some of the most important and recent algorithms

### Vision-Based Blind Spot Detection Using Optical Flow

Vision-Based Blind Spot Detection Using Optical Flow M.A. Sotelo 1, J. Barriga 1, D. Fernández 1, I. Parra 1, J.E. Naranjo 2, M. Marrón 1, S. Alvarez 1, and M. Gavilán 1 1 Department of Electronics, University

### Vision In and Out of Vehicles: Integrated Driver and Road Scene Monitoring

Vision In and Out of Vehicles: Integrated Driver and Road Scene Monitoring Nicholas Apostoloff and Alexander Zelinsky The Australian National University, Robotic Systems Laboratory, Research School of

### Towards Zero Accidents and Increased Productivity in Roadside Construction

Towards Zero Accidents and Increased Productivity in Roadside Construction Project within FFI Vehicle and Traffic Safety Author: Stefan Bergquist and Peter Wallin Date: 2015-03-25 Content 1. Executive

### Mouse Control using a Web Camera based on Colour Detection

Mouse Control using a Web Camera based on Colour Detection Abhik Banerjee 1, Abhirup Ghosh 2, Koustuvmoni Bharadwaj 3, Hemanta Saikia 4 1, 2, 3, 4 Department of Electronics & Communication Engineering,

### Detection and Recognition of Mixed Traffic for Driver Assistance System

Detection and Recognition of Mixed Traffic for Driver Assistance System Pradnya Meshram 1, Prof. S.S. Wankhede 2 1 Scholar, Department of Electronics Engineering, G.H.Raisoni College of Engineering, Digdoh

### PROCEEDINGS OF THE INSTITUTE OF VEHICLES 3(99)/2014

PROCEEDINGS OF THE INSTITUTE OF VEHICLES 3(99)/2014 Wojciech Skarka 1, Katarzyna Jezierska-Krupa 2, Maciej Krysiak 3 COMPARISON OF TWO VERSIONS OF BLIND SPOT INFORMATION SYSTEMS IN BYTEL AND MUSHELLKA

### Laser Gesture Recognition for Human Machine Interaction

International Journal of Computer Sciences and Engineering Open Access Research Paper Volume-04, Issue-04 E-ISSN: 2347-2693 Laser Gesture Recognition for Human Machine Interaction Umang Keniya 1*, Sarthak

### Testimony of Ann Wilson House Energy & Commerce Committee Subcommittee on Commerce, Manufacturing and Trade, October 21, 2015

House Energy & Commerce Committee Subcommittee on Commerce, Manufacturing and Trade, October 21, 2015 Introduction Chairman Burgess, Ranking Member Schakowsky, members of the subcommittee: Thank you for

### Tips and Technology For Bosch Partners

Tips and Technology For Bosch Partners Current information for the successful workshop No. 04/2015 Electrics / Elektronics Driver Assistance Systems In this issue, we are continuing our series on automated

### VEHICLE TRACKING USING ACOUSTIC AND VIDEO SENSORS

VEHICLE TRACKING USING ACOUSTIC AND VIDEO SENSORS Aswin C Sankaranayanan, Qinfen Zheng, Rama Chellappa University of Maryland College Park, MD - 277 {aswch, qinfen, rama}@cfar.umd.edu Volkan Cevher, James

### Basler. Line Scan Cameras

Basler Line Scan Cameras High-quality line scan technology meets a cost-effective GigE interface Real color support in a compact housing size Shading correction compensates for difficult lighting conditions

### Development of an automated Red Light Violation Detection System (RLVDS) for Indian vehicles

CS11 59 Development of an automated Red Light Violation Detection System (RLVDS) for Indian vehicles Satadal Saha 1, Subhadip Basu 2 *, Mita Nasipuri 2, Dipak Kumar Basu # 2 # AICTE Emeritus Fellow 1 CSE

### Detecting and positioning overtaking vehicles using 1D optical flow

Detecting and positioning overtaking vehicles using 1D optical flow Daniel Hultqvist 1, Jacob Roll 1, Fredrik Svensson 1, Johan Dahlin 2, and Thomas B. Schön 3 Abstract We are concerned with the problem

### JEREMY SALINGER Innovation Program Manager Electrical & Control Systems Research Lab GM Global Research & Development

JEREMY SALINGER Innovation Program Manager Electrical & Control Systems Research Lab GM Global Research & Development ROADMAP TO AUTOMATED DRIVING Autonomous Driving (Chauffeured Driving) Increasing Capability

### Integrated sensors for robotic laser welding

Proceedings of the Third International WLT-Conference on Lasers in Manufacturing 2005,Munich, June 2005 Integrated sensors for robotic laser welding D. Iakovou *, R.G.K.M Aarts, J. Meijer University of

### 3D SCANNING: A NEW APPROACH TOWARDS MODEL DEVELOPMENT IN ADVANCED MANUFACTURING SYSTEM

3D SCANNING: A NEW APPROACH TOWARDS MODEL DEVELOPMENT IN ADVANCED MANUFACTURING SYSTEM Dr. Trikal Shivshankar 1, Patil Chinmay 2, Patokar Pradeep 3 Professor, Mechanical Engineering Department, SSGM Engineering

### Neural Network based Vehicle Classification for Intelligent Traffic Control

Neural Network based Vehicle Classification for Intelligent Traffic Control Saeid Fazli 1, Shahram Mohammadi 2, Morteza Rahmani 3 1,2,3 Electrical Engineering Department, Zanjan University, Zanjan, IRAN

### PHOTOGRAMMETRIC TECHNIQUES FOR MEASUREMENTS IN WOODWORKING INDUSTRY

PHOTOGRAMMETRIC TECHNIQUES FOR MEASUREMENTS IN WOODWORKING INDUSTRY V. Knyaz a, *, Yu. Visilter, S. Zheltov a State Research Institute for Aviation System (GosNIIAS), 7, Victorenko str., Moscow, Russia

### 3D Vision An enabling Technology for Advanced Driver Assistance and Autonomous Offroad Driving

3D Vision An enabling Technology for Advanced Driver Assistance and Autonomous Offroad Driving AIT Austrian Institute of Technology Safety & Security Department Christian Zinner Safe and Autonomous Systems

### Modelling, Extraction and Description of Intrinsic Cues of High Resolution Satellite Images: Independent Component Analysis based approaches

Modelling, Extraction and Description of Intrinsic Cues of High Resolution Satellite Images: Independent Component Analysis based approaches PhD Thesis by Payam Birjandi Director: Prof. Mihai Datcu Problematic

### Image Content-Based Email Spam Image Filtering

Image Content-Based Email Spam Image Filtering Jianyi Wang and Kazuki Katagishi Abstract With the population of Internet around the world, email has become one of the main methods of communication among

### READING BARCODES USING DIGITAL CAMERAS THROUGH IMAGE PROCESSING

Proceedings of 5th International Symposium on Intelligent Manufacturing Systems, May 29-31, 2006: 835-843 Sakarya University, Department of Industrial Engineering READING BARCODES USING DIGITAL CAMERAS

### A STUDY ON WARNING TIMING FOR LANE CHANGE DECISION AID SYSTEMS BASED ON DRIVER S LANE CHANGE MANEUVER

A STUDY ON WARNING TIMING FOR LANE CHANGE DECISION AID SYSTEMS BASED ON DRIVER S LANE CHANGE MANEUVER Takashi Wakasugi Japan Automobile Research Institute Japan Paper Number 5-29 ABSTRACT The purpose of

### Navigation Aid And Label Reading With Voice Communication For Visually Impaired People

Navigation Aid And Label Reading With Voice Communication For Visually Impaired People A.Manikandan 1, R.Madhuranthi 2 1 M.Kumarasamy College of Engineering, mani85a@gmail.com,karur,india 2 M.Kumarasamy

### REAL TIME 3D FUSION OF IMAGERY AND MOBILE LIDAR INTRODUCTION

REAL TIME 3D FUSION OF IMAGERY AND MOBILE LIDAR Paul Mrstik, Vice President Technology Kresimir Kusevic, R&D Engineer Terrapoint Inc. 140-1 Antares Dr. Ottawa, Ontario K2E 8C4 Canada paul.mrstik@terrapoint.com

### False alarm in outdoor environments

Accepted 1.0 Savantic letter 1(6) False alarm in outdoor environments Accepted 1.0 Savantic letter 2(6) Table of contents Revision history 3 References 3 1 Introduction 4 2 Pre-processing 4 3 Detection,

### The demonstration will be performed in the INTA high speed ring to emulate highway geometry and driving conditions.

Company / Contact: Description of your project Description of your vehicle/ mock up High speed CACC with lateral control AUTOPÍA Program Centro de Automática y Robótica (UPM-CSC) The goal of this demonstration

### Circle Object Recognition Based on Monocular Vision for Home Security Robot

Journal of Applied Science and Engineering, Vol. 16, No. 3, pp. 261 268 (2013) DOI: 10.6180/jase.2013.16.3.05 Circle Object Recognition Based on Monocular Vision for Home Security Robot Shih-An Li, Ching-Chang

### Colorado School of Mines Computer Vision Professor William Hoff

Professor William Hoff Dept of Electrical Engineering &Computer Science http://inside.mines.edu/~whoff/ 1 Introduction to 2 What is? A process that produces from images of the external world a description

### The Implementation of Face Security for Authentication Implemented on Mobile Phone

The Implementation of Face Security for Authentication Implemented on Mobile Phone Emir Kremić *, Abdulhamit Subaşi * * Faculty of Engineering and Information Technology, International Burch University,

### The Utilization of Satellite Images to Identify Tree Endangering Transmission Lines

The Utilization of Satellite Images to Identify Tree Endangering Transmission Lines Y. Kobayashi M. S. Moeller G. G. Karady G. T. Heydt R. G. Olsen Project Tele-Seminar March 18, 2008 3/10/2008 1 Introduction

### 3D Vision An enabling Technology for Advanced Driver Assistance and Autonomous Offroad Driving

3D Vision An enabling Technology for Advanced Driver Assistance and Autonomous Offroad Driving AIT Austrian Institute of Technology Safety & Security Department Manfred Gruber Safe and Autonomous Systems

### PERFORMANCE ANALYSIS OF HIGH RESOLUTION IMAGES USING INTERPOLATION TECHNIQUES IN MULTIMEDIA COMMUNICATION SYSTEM

PERFORMANCE ANALYSIS OF HIGH RESOLUTION IMAGES USING INTERPOLATION TECHNIQUES IN MULTIMEDIA COMMUNICATION SYSTEM Apurva Sinha 1, Mukesh kumar 2, A.K. Jaiswal 3, Rohini Saxena 4 Department of Electronics

### Introduction. www.imagesystems.se

Product information Image Systems AB Main office: Ågatan 40, SE-582 22 Linköping Phone +46 13 200 100, fax +46 13 200 150 info@imagesystems.se, Introduction TrackEye is the world leading system for motion

### Implementation of Canny Edge Detector of color images on CELL/B.E. Architecture.

Implementation of Canny Edge Detector of color images on CELL/B.E. Architecture. Chirag Gupta,Sumod Mohan K cgupta@clemson.edu, sumodm@clemson.edu Abstract In this project we propose a method to improve

### A System for Capturing High Resolution Images

A System for Capturing High Resolution Images G.Voyatzis, G.Angelopoulos, A.Bors and I.Pitas Department of Informatics University of Thessaloniki BOX 451, 54006 Thessaloniki GREECE e-mail: pitas@zeus.csd.auth.gr

### 3D Position Tracking of Instruments in Laparoscopic Surgery Training

The 1st Asia-Pacific Workshop on FPGA Applications, Xiamen, China, 2012 3D Position Tracking of Instruments in Laparoscopic Surgery Training Shih-Fan Yang, Ming-Feng Shiu, Bo-Kai Shiu, Yuan-Hsiang Lin

### Tracking and Recognition in Sports Videos

Tracking and Recognition in Sports Videos Mustafa Teke a, Masoud Sattari b a Graduate School of Informatics, Middle East Technical University, Ankara, Turkey mustafa.teke@gmail.com b Department of Computer

### Intelligent Submersible Manipulator-Robot, Design, Modeling, Simulation and Motion Optimization for Maritime Robotic Research

20th International Congress on Modelling and Simulation, Adelaide, Australia, 1 6 December 2013 www.mssanz.org.au/modsim2013 Intelligent Submersible Manipulator-Robot, Design, Modeling, Simulation and

### Simulation-based traffic management for autonomous and connected vehicles

Simulation-based traffic management for autonomous and connected vehicles Paweł Gora Faculty of Mathematics, Informatics and Mechanics University of Warsaw ITS Kraków, 3-4.12.2015 Axioms Vehicles may communicate

### Robust and accurate global vision system for real time tracking of multiple mobile robots

Robust and accurate global vision system for real time tracking of multiple mobile robots Mišel Brezak Ivan Petrović Edouard Ivanjko Department of Control and Computer Engineering, Faculty of Electrical

### A Survey of Video Processing with Field Programmable Gate Arrays (FGPA)

A Survey of Video Processing with Field Programmable Gate Arrays (FGPA) Heather Garnell Abstract This paper is a high-level, survey of recent developments in the area of video processing using reconfigurable

### A method of generating free-route walk-through animation using vehicle-borne video image

A method of generating free-route walk-through animation using vehicle-borne video image Jun KUMAGAI* Ryosuke SHIBASAKI* *Graduate School of Frontier Sciences, Shibasaki lab. University of Tokyo 4-6-1

### The 3D rendering pipeline (our version for this class)

The 3D rendering pipeline (our version for this class) 3D models in model coordinates 3D models in world coordinates 2D Polygons in camera coordinates Pixels in image coordinates Scene graph Camera Rasterization

### Adaptive Cruise Control of a Passenger Car Using Hybrid of Sliding Mode Control and Fuzzy Logic Control

Adaptive Cruise Control of a assenger Car Using Hybrid of Sliding Mode Control and Fuzzy Logic Control Somphong Thanok, Manukid arnichkun School of Engineering and Technology, Asian Institute of Technology,

### Visual Servoing Methodology for Selective Tree Pruning by Human-Robot Collaborative System

Ref: C0287 Visual Servoing Methodology for Selective Tree Pruning by Human-Robot Collaborative System Avital Bechar, Victor Bloch, Roee Finkelshtain, Sivan Levi, Aharon Hoffman, Haim Egozi and Ze ev Schmilovitch,

### Face detection is a process of localizing and extracting the face region from the

Chapter 4 FACE NORMALIZATION 4.1 INTRODUCTION Face detection is a process of localizing and extracting the face region from the background. The detected face varies in rotation, brightness, size, etc.

### The Design and Implementation of Traffic Accident Identification System Based on Video

3rd International Conference on Multimedia Technology(ICMT 2013) The Design and Implementation of Traffic Accident Identification System Based on Video Chenwei Xiang 1, Tuo Wang 2 Abstract: With the rapid

### A low cost 3D scanner based on structured light. C. Rocchini, P. Cignoni, C. Montani, P. Pingi, R. Scopigno

A low cost 3D scanner based on structured light C. Rocchini, P. Cignoni, C. Montani, P. Pingi, R. Scopigno Introduction 3D Scanner + Software Claudio Rocchini, Visual Computing Group 2 Characteristics

### Online Learning for Offroad Robots: Using Spatial Label Propagation to Learn Long Range Traversability

Online Learning for Offroad Robots: Using Spatial Label Propagation to Learn Long Range Traversability Raia Hadsell1, Pierre Sermanet1,2, Jan Ben2, Ayse Naz Erkan1, Jefferson Han1, Beat Flepp2, Urs Muller2,

### Blender 3D Animation

Bachelor Maths/Physics/Computer Science University Paris-Sud Digital Imaging Course Blender 3D Animation Christian Jacquemin Introduction to Computer Animation Animation Basics animation consists in changing

### Nighttime Vehicle Distance Alarm System

Proceedings of the 7th WSEAS Int. Conf. on Signal Processing, Computational Geometry & Artificial Vision, Athens, Greece, August 24-26, 2007 226 ighttime Vehicle Distance Alarm System MIG-CI LU *, WEI-YE

### Vision based Vehicle Tracking using a high angle camera

Vision based Vehicle Tracking using a high angle camera Raúl Ignacio Ramos García Dule Shu gramos@clemson.edu dshu@clemson.edu Abstract A vehicle tracking and grouping algorithm is presented in this work

### Fast field survey with a smartphone

Fast field survey with a smartphone A. Masiero F. Fissore, F. Pirotti, A. Guarnieri, A. Vettore CIRGEO Interdept. Research Center of Geomatics University of Padova Italy cirgeo@unipd.it 1 Mobile Mapping

### LONG BEACH CITY COLLEGE MEMORANDUM

LONG BEACH CITY COLLEGE MEMORANDUM DATE: May 5, 2000 TO: Academic Senate Equivalency Committee FROM: John Hugunin Department Head for CBIS SUBJECT: Equivalency statement for Computer Science Instructor

### Real-time Stereo Vision Obstacle Detection for Automotive Safety Application

Real-time Stereo Vision Obstacle Detection for Automotive Safety Application D. Perrone L. Iocchi P.C. Antonello Sapienza University of Rome Dipartimento di Informatica e Sistemistica E-mail: dperrone@it.gnu.org,

### Visual Servoing using Fuzzy Controllers on an Unmanned Aerial Vehicle

Visual Servoing using Fuzzy Controllers on an Unmanned Aerial Vehicle Miguel A. Olivares-Méndez mig olivares@hotmail.com Pascual Campoy Cervera pascual.campoy@upm.es Iván Mondragón ivanmond@yahoo.com Carol

### CCTV - Video Analytics for Traffic Management

CCTV - Video Analytics for Traffic Management Index Purpose Description Relevance for Large Scale Events Technologies Impacts Integration potential Implementation Best Cases and Examples 1 of 12 Purpose

### A Vision-Based Tracking System for a Street-Crossing Robot

Submitted to ICRA-04 A Vision-Based Tracking System for a Street-Crossing Robot Michael Baker Computer Science Department University of Massachusetts Lowell Lowell, MA mbaker@cs.uml.edu Holly A. Yanco

### Car Collision Warning System Based on RTK GPS

Milan HOREMUZ, Sweden Key words: RTK, GPS, road safety, Kalman filter SUMMARY Many serious traffic accidents happen when a car drives over to the opposite lane. An effective w to prevent such accidents

### Segmentation of building models from dense 3D point-clouds

Segmentation of building models from dense 3D point-clouds Joachim Bauer, Konrad Karner, Konrad Schindler, Andreas Klaus, Christopher Zach VRVis Research Center for Virtual Reality and Visualization, Institute

### AAA AUTOMOTIVE ENGINEERING

AAA AUTOMOTIVE ENGINEERING Evaluation of Blind Spot Monitoring and Blind Spot Intervention Technologies 2014 AAA conducted research on blind-spot monitoring systems in the third quarter of 2014. The research

### 3D Scanner using Line Laser. 1. Introduction. 2. Theory

. Introduction 3D Scanner using Line Laser Di Lu Electrical, Computer, and Systems Engineering Rensselaer Polytechnic Institute The goal of 3D reconstruction is to recover the 3D properties of a geometric

### A Short Introduction to Computer Graphics

A Short Introduction to Computer Graphics Frédo Durand MIT Laboratory for Computer Science 1 Introduction Chapter I: Basics Although computer graphics is a vast field that encompasses almost any graphical

### An Iterative Image Registration Technique with an Application to Stereo Vision

An Iterative Image Registration Technique with an Application to Stereo Vision Bruce D. Lucas Takeo Kanade Computer Science Department Carnegie-Mellon University Pittsburgh, Pennsylvania 15213 Abstract

### Professor, D.Sc. (Tech.) Eugene Kovshov MSTU «STANKIN», Moscow, Russia

Professor, D.Sc. (Tech.) Eugene Kovshov MSTU «STANKIN», Moscow, Russia As of today, the issue of Big Data processing is still of high importance. Data flow is increasingly growing. Processing methods

### Shape Measurement of a Sewer Pipe. Using a Mobile Robot with Computer Vision

International Journal of Advanced Robotic Systems ARTICLE Shape Measurement of a Sewer Pipe Using a Mobile Robot with Computer Vision Regular Paper Kikuhito Kawasue 1,* and Takayuki Komatsu 1 1 Department

### 3D MODEL DRIVEN DISTANT ASSEMBLY

3D MODEL DRIVEN DISTANT ASSEMBLY Final report Bachelor Degree Project in Automation Spring term 2012 Carlos Gil Camacho Juan Cana Quijada Supervisor: Abdullah Mohammed Examiner: Lihui Wang 1 Executive

### Real-time Traffic Congestion Detection Based on Video Analysis

Journal of Information & Computational Science 9: 10 (2012) 2907 2914 Available at http://www.joics.com Real-time Traffic Congestion Detection Based on Video Analysis Shan Hu a,, Jiansheng Wu a, Ling Xu

### Application of Virtual Instrumentation for Sensor Network Monitoring

Application of Virtual Instrumentation for Sensor etwor Monitoring COSTATI VOLOSECU VICTOR MALITA Department of Automatics and Applied Informatics Politehnica University of Timisoara Bd. V. Parvan nr.

### Abstract. Introduction

SPACECRAFT APPLICATIONS USING THE MICROSOFT KINECT Matthew Undergraduate Student Advisor: Dr. Troy Henderson Aerospace and Ocean Engineering Department Virginia Tech Abstract This experimental study involves

### By: M.Habibullah Pagarkar Kaushal Parekh Jogen Shah Jignasa Desai Prarthna Advani Siddhesh Sarvankar Nikhil Ghate

AUTOMATED VEHICLE CONTROL SYSTEM By: M.Habibullah Pagarkar Kaushal Parekh Jogen Shah Jignasa Desai Prarthna Advani Siddhesh Sarvankar Nikhil Ghate Third Year Information Technology Engineering V.E.S.I.T.

### USING THE XBOX KINECT TO DETECT FEATURES OF THE FLOOR SURFACE

USING THE XBOX KINECT TO DETECT FEATURES OF THE FLOOR SURFACE By STEPHANIE COCKRELL Submitted in partial fulfillment of the requirements For the degree of Master of Science Thesis Advisor: Gregory Lee

### Mobile Robot FastSLAM with Xbox Kinect

Mobile Robot FastSLAM with Xbox Kinect Design Team Taylor Apgar, Sean Suri, Xiangdong Xi Design Advisor Prof. Greg Kowalski Abstract Mapping is an interesting and difficult problem in robotics. In order

### Tracking of Small Unmanned Aerial Vehicles

Tracking of Small Unmanned Aerial Vehicles Steven Krukowski Adrien Perkins Aeronautics and Astronautics Stanford University Stanford, CA 94305 Email: spk170@stanford.edu Aeronautics and Astronautics Stanford

### Project Overview Mapping Technology Assessment for Connected Vehicle Highway Network Applications

Project Overview Mapping Technology Assessment for Connected Vehicle Highway Network Applications CGSIC Seattle Washington August2012 Table Of Contents Connected Vehicle Program Goals Mapping Technology

### Application of the Automatic Incident Detection (AID) system to the open section on highway in Japan

Application of the Automatic Incident Detection (AID) to the open section on highway in Japan Takehiko Kato 1, Hidenori Yamamoto 1, Nobuaki Miura 2, Kosuke Setoyama 1, Hiroshi Nagano 1, Masayuki Doi 2

### Interactive Visualization of Magnetic Fields

JOURNAL OF APPLIED COMPUTER SCIENCE Vol. 21 No. 1 (2013), pp. 107-117 Interactive Visualization of Magnetic Fields Piotr Napieralski 1, Krzysztof Guzek 1 1 Institute of Information Technology, Lodz University

### Ensuring Security by Providing Technology Multipliers

Ensuring Security by Providing Technology Multipliers formerly KritiKal SecureScan UNDER VEHICLE SCANNING SYSTEM X-RAY BAGGAGE SCANNERS AUTOMATIC NUMBER PLATE RECOGNITION SPEED VIOLATION DETECTION RED

### Simultaneous Gamma Correction and Registration in the Frequency Domain

Simultaneous Gamma Correction and Registration in the Frequency Domain Alexander Wong a28wong@uwaterloo.ca William Bishop wdbishop@uwaterloo.ca Department of Electrical and Computer Engineering University

### Implementation of OCR Based on Template Matching and Integrating it in Android Application

International Journal of Computer Sciences and EngineeringOpen Access Technical Paper Volume-04, Issue-02 E-ISSN: 2347-2693 Implementation of OCR Based on Template Matching and Integrating it in Android

### FPGA Based Hardware Accelerator for Parallel Robot Kinematic Calculations

AUTOMATYKA/ AUTOMATICS 03 Vol. 7 No. http://dx.doi.org/0.7494/automat.03.7..87 Grzegorz Karpiel*, Konrad Gac*, Maciej Petko* FPGA Based Hardware Accelerator for Parallel Robot Kinematic Calculations. Introduction

### T-REDSPEED White paper

T-REDSPEED White paper Index Index...2 Introduction...3 Specifications...4 Innovation...6 Technology added values...7 Introduction T-REDSPEED is an international patent pending technology for traffic violation