Monocular Camera System for Detecting a Small Object at Far Range - Application

For the autonomous driving and the ADAS, we have been developing the new vision system. It focuses on detecting the small object at far ranges and keeps the vehicle running smoothly by avoiding the object in advance. This system is based on the high-resolution monocular camera with narrow FOV and the core algorithms for object-detection and lane-detection. Since we have already developed the prototype system, here we have applied it to a field test. The test results are: for traffic cones and arbitrary objects at 50 - 150 [m], the detection rate is 95.6% for n=90, the ghost rate is 0% for n=53, and the range accuracy is 7.1 [m] for n=72. To attain this performance, we also have developed the support algorithms/methods for deleting a ghost object caused by a puddle, determining the side line for an object with obscure boundary and estimating the elevation angle.