Accurate Distance Estimation of a Preceding Vehicle using High-speed Stereo Video Images

カテゴリ: 部門大会

論文No: SS2-9

グループ名: 【C】平成28年電気学会電子・情報・システム部門大会講演論文集

発行日: 2016/08/31

タイトル(英語): Accurate Distance Estimation of a Preceding Vehicle using High-speed Stereo Video Images

著者名: 李 銘(埼玉大学),小室 孝(埼玉大学)

著者名(英語): Ming Li|Takashi Komuro

キーワード: driving support system|high-speed camera|particle filter

要約(日本語): In this paper, we propose a method for accurately estimating the distance of a preceding vehicle using high-speed stereo video images. Using image information with high temporal density, we expect that more accurate estimation becomes possible. The relative distance of the preceding vehicle is estimated using a particle filter. By taking a weighted average of estimated states of many particles, accurate distance estimation which exceeds the limit due to image resolution is possible. We measured the RMSEs of the relative distance of a preceding vehicle by using artificially-generated video images with different frame rates. The results showed that as the frame rate becomes higher, the estimation accuracy also becomes higher when the distance of the preceding vehicle is far.

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