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1、Real-TimeLaneandObstacleDetectionontheSystem*MassimoBertozziandAlbertoBroggiDipartimentodiIngegneriadell'InformazioneUniversitadiParma,I-43100Parma,ItalyÁe-mail:fbertozzi,broggig@CE.UniPR.ITPhone:+39-521-905707Fax:+39-521-905723AbstractThispaperdescribestheGO
2、LD(GenericObsta-cleandLaneDetection)system,astereovision-basedhardwareandsoftwarearchitecturedevelopedtoin-crementroadsafetyofmovingvehicles:itallowstodetectbothgenericobstacles(withoutconstraintsonsymmetryorshape)andthelanepositioninastruc-turedenvironment(w
3、ithpaintedlanemarkings).IthasbeenimplementedonthePAPRICAsystemandworksatarateof10Hz.Figure1:Theoriginalandtheremappedimages1IntroductionTheGOLDsystemaddressesbothlanedetectiontiveeffectfromamonocularimageanditsapplicationandobstacledetectionatthesametime:lane
4、detectiontotheprocessingofstereoimages.Section3describesisbasedonapattern-matchingtechniquewhichrelieshowlanedetectionisperformedwhilesection4de-onthepresenceofroadmarkings,whilethelocalizationscribesobstaclesdetection.Section5describestheofobstaclesinfrontof
5、thevehicleisperformedbythehardwarearchitectureandsection6showstheimple-processingofpairsofstereoimages:inordertobementationandperformance.Section7endsthepaperfastandrobustwithrespecttocameracalibrationandwithabriefdiscussionoftheresults.vehiclemovements,thede
6、tectionofagenericobstacleisreducedtothedeterminationofthefree-spaceinfront2TheUnderlyingApproachofthevehiclewithoutany3Dworldreconstruction[8].TheInversePerspectiveMapping(IPM)isawell-Bothfunctionalitiesshareathesameunderlyingestablishedtechnique[2,10,12,14,1
7、5]thatallowsapproach(inverseperspectivemapping[9]),whichistoremovetheperspectiveeffectwhentheacquisitionbasedontheassumptionofa¯atroad.Suchatech-parameters(cameraposition,orientation,optics,...)areniqueisbasedonatransformthat,givenamodelofthecompletelyknownan
8、dwhenaknowledgeaboutroadroadinfrontofthevehicle(e.g.¯atroad)remapsbothisgiven,suchasa¯atroadhypothesis.Theprocedureimagesintoanewdomain(roaddomain),inwhichtheaimedtoremovetheperspectiveef
