抄録
This research aims to develop a collision warning system for preventing vehicle-pedestrian accidents by making use of the information of crosswalk position. The system is based on an assumption that all moving objects near a crosswalk are inferred as pedestrians. Crosswalks can be detected by a monocular camera. Moving objects are detected by using a millimeter wave radar or a monocular camera with an optical flow algorithm. In the proposed pedestrian detection algorithm, precise localization of crosswalk is necessary for searching pedestrians near a crosswalk. Consequently, this paper demonstrates a vehicle egomotion estimation by the optical flow, which is useful for correcting the distance to crosswalk during dynamic movements of a car, e.g. large yawing or pitching motion. Test drives show the effectiveness of the optical flow algorithm in estimating yawing and pitching motion.
