Detection of passing vehicles by a robot car driver

摘要

A mobile robot operating in the presence of other vehicles should be able to determine at any time whether some other vehicle is in the process of passing it. A concept of a recognition system for realizing this ability is introduced. An algorithm is presented that interprets the image sequence of a forward-looking camera and detects passing vehicles when they enter the field of view. Controlled correlation is used for feature extraction, and the rate of false detections is minimized by applying a motion criterion. The algorithm operates in real time. It has been tested with recorded highway scenes played back and interpreted in real time.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>