単眼車載カメラを用いた路面動き補正による障害物検知

－画像情報のみによる路面移動量の推定－

抄録

The purpose of this paper is to propose a new approach to obstacles detection using a single camera mounted on a vehicle when the vehicle is backing or turning round at an intersection at a low speed. Using equations among feature point locations and optical flows in geometrically transferred top-view images, ground-movement information can be estimated. We compensate for the ground-movement between consecutive top-view images using the estimated ground-movement information and compute the difference image using the compensated previous top-view image and the current top-view image. Finally, obstacle regions on top-view image can be easily extracted using the difference image. The proposed approach is demonstrated to be effective by evaluation images captured by an in-vehicle camera