ARAN - Access to Research at NUI Galway

Vision Algorithms and Systems for Vehicle and Pedestrian Detection in Night Time Conditions Using Vehicle Mounted Cameras

ARAN - Access to Research at NUI Galway

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dc.contributor.advisor Glavin, Martin
dc.contributor.advisor Jones, Edward
dc.contributor.author O'Malley, Ronan
dc.date.accessioned 2011-12-08T16:06:24Z
dc.date.available 2011-12-08T16:06:24Z
dc.date.issued 2011-08-24
dc.identifier.uri http://hdl.handle.net/10379/2390
dc.description.abstract Statistics show that a disproportionate amount of road fatalities occur at night-time despite the greatly reduced volume of traffic on roads. This thesis describes a system aimed at addressing this issue by automatically detecting the two main categories of road users: other road vehicles and pedestrians. A vehicle detection system using a visible spectrum camera and a pedestrian detection system using an infrared camera are presented, followed by a fusion of these systems. An image processing system to detect and track vehicles using their lamps is presented. As the appearance of vehicle lamps in video can vary depending on camera hardware, a camera configuration process is implemented. To identify red tail- and brake-lamps, parameters for a red colour threshold are derived from automotive regulations. Higher intensity headlamps are identified by utilising a seeded region growing technique. To obtain vehicle location data from identified lamps, they are paired using bilateral symmetry analysis. This is assessed by means of image cross-correlation, a shape and size independent approach to symmetry analysis. However, images of vehicle headlamps and tail-lamps suffer from perspective distortion during road manoeuvres, such as turning, engaging road bends and overtaking. A projective image transformation corrects for this perspective distortion, ensuring consistent detection performance through these road manoeuvres. A night-time pedestrian detection system, based on the processing of Far-Infrared video, is presented. A pre-processing step is introduced, which compensates for distortion caused by clothing, using vertically-biased morphological closing. Regions Of Interest (ROIs) are identified using a region growing technique with high intensity seeds and feature-based stopping criteria. Histogram of Oriented Gradients (HOG) features are calculated from a database of images to train a Support Vector Machine (SVM) classifier. Finally, advantages are attained by implementing a cooperative fusion of the visual vehicle detection and IR pedestrian detection systems. Vehicle location extracted from the visual system is used to mask the IR frame, removing warm vehicle parts such as lamps, tyres and exhaust pipes. This reduces the probability of false positives in pedestrian detection. Pedestrians detected in IR video are highlighted in the visual image, making pedestrians much more visible for human video consumers. This research aims to contribute to a safer road environment at night for both drivers and pedestrians. en_US
dc.subject automotive en_US
dc.subject computer vision en_US
dc.subject machine vision en_US
dc.subject image processing en_US
dc.subject vehicle safety en_US
dc.subject intelligent transportation systems en_US
dc.subject driver safety en_US
dc.subject vehicle detection en_US
dc.subject pedestrian detection en_US
dc.subject road safety en_US
dc.subject machine learning en_US
dc.title Vision Algorithms and Systems for Vehicle and Pedestrian Detection in Night Time Conditions Using Vehicle Mounted Cameras en_US
dc.type Thesis en_US
dc.contributor.funder IRCSET en_US
dc.local.note This thesis presents an automotive computer system which detects road vehicles and pedestrians at night. Vehicles are detected by identifying lamps using regular camera hardware. Pedestrians are detected using thermal imaging. This enables warning of drivers or deploying of safety systems when an impending collision is detected. The research aims to reduce the number of road collisions at night. en_US
dc.local.final Yes en_US

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