A software-hardware cooperative implementation of bird's-eye view system for camera-on-vehicle

Luo, Lei; Koh, In-Sung; Park, Sangyoon; Ahn, Resen; Chong, Jong‐Wha

doi:10.1109/icnidc.2009.5360920

Cited by 13 publications

(4 citation statements)

References 6 publications

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“…This technique is particularly useful for detecting parking slot lines [15]. Moreover, lane detection can be performed by converting the input image into a bird's-eye view after acquiring the camera's internal and external parameters through camera calibration [16,17]. This method is commonly used for detecting curved lanes that are relatively distant from the camera.…”

Section: Tool-based Methodsmentioning

confidence: 99%

Enhancing Lane-Tracking Performance in Challenging Driving Environments through Parameter Optimization and a Restriction System

2023

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The autonomous driving market has experienced rapid growth in recent times. From systems that assist drivers in keeping within their lanes to systems that recognize obstacles using sensors and then handle those obstacles, there are various types of systems in autonomous driving. The sensors used in autonomous driving systems include infrared detection devices, lidar, ultrasonic sensors, and cameras. Among these sensors, cameras are widely used. This paper proposes a method for stable lane detection from images captured by camera sensors in diverse environments. First, the system utilizes a bilateral filter and multiscale retinex (MSR) with experimentally optimized set parameters to suppress image noise while increasing contrast. Subsequently, the Canny edge detector is employed to detect the edges of the lane candidates, followed by utilizing the Hough transform to make straight lines from the land candidate images. Then, using a proposed restriction system, only the two lines that the current vehicle is actively driving within are detected from the candidate lines. Furthermore, the lane position information from the previous frame is combined with the lane information from the current frame to correct the current lane position. The Kalman filter is then used to predict the lane position in the next frame. The proposed lane-detection method was evaluated in various scenarios, including rainy conditions, low-light nighttime environments with minimal street lighting, scenarios with interfering guidelines within the lane area, and scenarios with significant noise caused by water droplets on the camera. Both qualitative and quantitative experimental results demonstrate that the lane-detection method presented in this paper effectively suppresses noise and accurately detects the two active lanes during driving.

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Section: Tool-based Methodsmentioning

confidence: 99%

Enhancing Lane-Tracking Performance in Challenging Driving Environments through Parameter Optimization and a Restriction System

2023

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“…The LUT presents the pixel-level mapping relationship between input and output images. The LUT-based design significantly reduces the complexity of implementing the AVM system since the expensive implementation of complex matrix multiplications can be avoided as in the case of [12]- [15]. Fig.…”

Section: B Lut-based Implementation Of Avm Systemmentioning

confidence: 99%

A Memory-Efficient Architecture of Full HD Around View Monitor Systems

Jeon

Park²,

Lee³

et al. 2014

IEEE Trans. Intell. Transport. Syst.

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The around view monitor (AVM) is one of the representative features of smart vision systems adopted in various application areas, e.g., advanced driver assistance systems. The design of AVM systems with full high-definition (HD)-level resolution presents significant technical challenges. In particular, a high-memory performance is required to process full HD images obtained from multiple cameras. Specifically, a full HD AVM system requires a high-memory bandwidth (six times higher than D1 image-based systems) and is characterized by a significant amount of single writes, which degrades the effective performance of modern DRAM. To address these problems, two methods are proposed in this paper. The first method reduces the required memory bandwidth by storing in the memory only the input pixel data that will be used in the final processing step, and the second improves the single-write performance of a DRAM subsystem by DRAM-aware data mapping. The effectiveness of the proposed methods is proved by designing an AVM system incorporating field-programmable gate arrays and DDR2-200 SDRAMs. The proposed methods reduce the memory bandwidth requirement by 51%, allowing a full HD AVM system to run at over 24 frames per second.Index Terms-Advanced driver assistance system (ADAS), around view monitor (AVM), full high definition (HD), memory bandwidth.

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“…Inverse Perspective Mapping has also been employed for obstacle detection in [7], [8]. Similar work has been carried out in [9], [10].…”

Section: Introductionmentioning

confidence: 99%

Statistical approach for distance estimation using Inverse Perspective Mapping on embedded platform

Bharade

Gaopande

Keskar

2014

2014 Annual IEEE India Conference (INDICON)

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The paper presents a real time image processing algorithm for distance estimation on Beagleboard. The system uses a single camera fixed at a stationary position to capture the real time image of target object and determine its distance in contrast to existing and most common vision algorithms of stereo vision.The image captured from a single forward facing camera suffers from high degree of uncertainty in object distance estimation due to the nonlinear relation between object height and its actual distance from camera. This uncertainty is eliminated by using Inverse Perspective Mapping to translate the front view captured by the photosensitive sensor to a bird's eye view. The focus of the paper is to present a statistical approach to scale the position of object in pixel to the real world physical distance. The proposed algorithm offers high efficiency in determining the distance of target object in a short time and thus aids the autonomous vehicle in intelligent navigation and feedback. The implementation is done using Intel OpenCV image processing libraries to reduce system overhead and is intended to work at least at 30 fps with VGA resolution.

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A software-hardware cooperative implementation of bird's-eye view system for camera-on-vehicle

Cited by 13 publications

References 6 publications

Enhancing Lane-Tracking Performance in Challenging Driving Environments through Parameter Optimization and a Restriction System

Enhancing Lane-Tracking Performance in Challenging Driving Environments through Parameter Optimization and a Restriction System

A Memory-Efficient Architecture of Full HD Around View Monitor Systems

Statistical approach for distance estimation using Inverse Perspective Mapping on embedded platform

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