Recently, since the vehicle is often used as the movement means, the traffic is increasing every years. Therefore, it is required that the ITS (Intelligent Transport Systems) provides the drivers with plural information for smooth and safety drive. A s one of I T S techniques, the studies of the traffic flow measurement by image processing have been proposed widely. I n the traditional methods, since they have almost observed the traffic flow from one viewpoint, one vehicle has been occluded by another one. Thus, it is inipossible that the occluded part of the vehicle cannot be extracted b y the image processing. I n our proposed method, plural cameras are used to solve the occlusion in the image taken from one viewpoint. O n the other hand, since the establishment of cameras are not always placed at the desirable position for the traffic flow observation system, we propose a method to extract the movement vehicles from the multiple viewpoints. Even if the occluded part of the vehicle exists i n the image taken from one viewpoint, our method solves the occlusion b y using the image from another viewpoint. Moreover, our method is carried out on condition that the multiple viewpoints are placed freely.
This paper proposes a method t o record three-dimensional (3-D) geometry of a road from a single-eye image. Although g e n e r a l l y i t i s impossible t o o b t a i n a 3-D information from a s i n g l e image of a road edge, t h i s becomes p o s s i b l e by adding information of t h e road from i t s d e s i g n c o n d i t i o n s . T h i s paper d e s c r i b e s a method t o c a l c u l a t e t h e model parameters from t h e edge of a t r a f f i c l a n e i n an image of a road, a f t e r p r e s e n t i n g a 3-D model of a road based on i t s design c o n d i t i o n s . I n t h e proposed model i t i s assumed t h a t t h e shapes of t h e c e n t e r l i n e of a road seen i n h o r i z o n t a l and v e r t i c a l p l a n e s c o n s i s t of a l t e r n a t i v e s t r a i g h t l i n e s and curves.The 3-D shape of a road using t h i s assumption can be c l a s s i f i e d i n t o f o u r c a t e g o r i e s . F i r s t , t h e parameters f o r a p a i r of p a r a l l e l s t r a i g h t l i n e s connected t o an a d j a c e n t curve a r e c a l c u l a t e d . Then t h e parameters of t h e curve connected t o t h e s t r a i g h t l i n e s are c a l c u l a t e d . A model having such synthesized road edges w a s computersimulated, g i v i n g t h e maximum r e l a t i v e e r r o r of t h e parameters of 1 2 percent.Images of road edges photographed from a v e h i c l e on an a c t u a l road were processed manually f o r comp a r i s o n , g i v i n g a maximum r e l a t i v e e r r o r of 21 p e r c e n t with r e f e r e n c e t o t h e design d a t a of t h e road. I n t r o d u c t i o nRecently, s t u d i e s on t h e automatic cont r o l of v e h i c l e s on open roads have been pursued a c t i v e l y [ l -41. Notably, t h e prosp e c t s f o r guiding systems f o r such v e h i c l e s based on v i s i o n information i s considered t o be high due t o t h e i r f l e x i b i l i t y . Actual working systems have been reported [3, 51. The three-dimensional (3-D) information of a road on which a v e h i c l e runs i s t h e most important of v a r i o u s k i n d s of information r e q u i r e d f o r guiding i t . For t h i s purpose, a camera (mono o r s t e r e o ) o r a range-sensor 69 (based on laser o r u l t r a s o n i c wave) presentl y i s used. A laser range-sensor i s cons i d e r e d t o b e s u p e r i o r t o t h e u l t r a s o n i c one i n r e s o l u t i o n [ 5 ] . When 3-D d a t a are obt a i n e d from a s t e r e o image, t h e method of searching corresponding p o i n t s and correspondence t o occlusion have some problems. When 3-D information i s estimated from a single-eye image, i t i s necessary t o p l a c e some r e s t r i c t i o n s on knowledge of a scene [ 6 , 71, f o r example, shading i n an image, t e x t u r e and contour a s a problem of "shape form." I n an indoor scene, many p a r a l l e l l i n e s are e a s i l y a v a i l a b l e and a f l o o r can be used as a c o n d i t i o n s e t t i n g a h o r i z o n t a l l i n e [ 8 ] .Th...
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