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Vision System for Detecting a Small Object with Arbitrary Shape at Far Range
ISSN: 0148-7191, e-ISSN: 2688-3627
Published April 14, 2020 by SAE International in United States
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For one of the advanced sensing technologies for the autonomous driving, we have been working on the new vision system. It focuses on detecting the small object at far ranges. It enables to detour a vehicle by avoiding small object. This system is based on the high-resolution mono-camera with narrow FOV and the algorithms for object-detection and lane-detection. Since we have already proposed the system for the traffic cones, we proceed to a new algorithm for an unknown object with arbitrary shape. It can detect the object and estimate its range by using the information on the lane even though the shape and dimension of the object are unknown. Here the system architecture and how the algorithm to detect the object and estimate its range are described. The algorithm is at first validated by a computer-generated image. And then it is applied to real images. For the cones, the accuracy was +/- 4 [m] for the ranges between 50 and 150 [m]. For unknown objects (a tire and a cardboard), the detection was successful and the range estimation was also satisfactory.
CitationMiyahara, S., Li, H., Xie, K., and Bai, J., "Vision System for Detecting a Small Object with Arbitrary Shape at Far Range," SAE Technical Paper 2020-01-0094, 2020, https://doi.org/10.4271/2020-01-0094.
Data Sets - Support Documents
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- Miyahara , S. , Li , H. , Xie , K. , and Bai , B. Vision System for Detecting a Small Object at Far Range SAE Technical Paper 2019-01-0886 2019 https://doi.org/10.4271/2019-01-0886
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- Kanda , J. , Taguchi , S. , and Yoneyama , S. A Method to Measure Road White Line by Analyzing Images Accumulated from Video Camera Which Is Mounted on the Vehicle IPSJ SIG Technical Report 2006-ITS-24 8 55 61 2006
- Miyahara , S. New Algorithm for the Range Estimation by a Single Frame of a Single Camera SAE Technical Paper 2005-01-1475 2005 https://doi.org/10.4271/2005-01-1475
- Miyahara , S. , Sielagoski , J. , Koulinitch , A. , and Ibrahim , F. Target Tracking by a Single Camera Based on Range-Window Algorithm and Pattern Matching SAE Technical Paper 2006-01-0140 2006 https://doi.org/10.4271/2006-01-0140
- Miyahara , S. Target Tracking by a Single Camera Based on Range-Window Algorithm and Pattern Matching: Real Time Operation SAE Technical Paper 2007-01-1320 2007 https://doi.org/10.4271/2007-01-1320
- Miyahara , S. , Freeman , K. , Koulinitch , A. , and Tiedje , K. Blind Spot Monitoring by a Single Camera SAE Technical Paper 2009-01-1291 2009 https://doi.org/10.4271/2009-01-1291