Measurement of Safe Driving Distance Based on Stereo Vision

Abstract

The measurement of safe driving distance based on stereo vision is proposed. The model of camera imaging is established using traditional camera calibration method firstly. Secondly, the projection matrix is deduced according to camera's internal and external parameter and used to calibrate the camera. The method of camera calibration based on two-dimensional target plane is adopted. Then the distortion parameters are calculated when the nonlinear geometric model of camera imaging is built. Moreover, the camera's internal and external parameters are optimized on the basis of the projection error' least squares criterion so that the un-distortion image can be obtained. The matching is done between the left image and the right image corresponding to angular point. The parallax error and the distance between the target vehicle and the camera can be calculated. The experimental results show that the measurement scheme is an effective one in a security vehicles spacing survey. The proposed system is convenient for driver to control in time and precisely. It is able to increase the security in intelligent transportation vehicles.

Mobile Phone as a Sensor for Robot Navigation System

“…Recently a few research projects have started to concentrate on distance estimation by use of more sensors. An interesting solution is published in a paper by Hou et al [3], where authors propose increasing the safety of transportation vehicles based on using stereo vision to measure safe driving distance. There are also papers utilizing the static stereo system to measure object disparity in separate pictures [4].…”

An Improvement Stereo Vision Images Processing for Object Distance Measurement

“…Let the image that isolate the object from the background be called as the binary image. Assume that the considered image can be classified into two clusters 1 C and 2 C as shown in Figure 3. One idea to choose the threshold value is to decide a gray level value, T, using which the variance between the two clusters is the largest, and the sum of the within-cluster variance in 1 C and 2 C is the smallest.…”

“…They not only measured object distance but also proposed a method to measure the object size. The other example is the work of A-Lin et al in which they used stereo vision to measure the safe driving distance of a vehicle [1].…”

“…Information of the distance of objects are useful for navigation and avoidance of autonomous mobile systems. The system can easily avoid obstacles if the accurate position of obstacles can be acquired [1].…”

Sub-pixel Distance Measurement Algorithm Based on Improved SURF

“…Han et al used the highest feature point of the marker crown and the triangular similarity theory to measure the length [4]. Zhao et al proposed to obtain the centroid of the odd and even field by using the interval scan to measure speed [5]. The second category is through two cameras to obtain images, using the difference between the two images to calculate the distance.…”