Driving Assistance Systems such as lane departure and front collision warning has caught great attention for its promising usage on road driving. This, this research focus on implementing lane departure and front collision warning at same time. In order to make the system really useful for real situation, it is critical that the whole process could be near real-time. Thus we chose Hough Transform as the main algorithm for detecting lane on the road. Hough Transform is used for that it is a very fast and robust algorithm, which makes it possible to execute as many frames as possible per frames. Hough Transform is used to get boundary information, so that we could decide if the car is doing lane departure based on the car's position in lane. Later, we move on to use front car's symmetry character to do front car detection, and combine it with Camshift tracking algorithm to fill the gap for failure of detection. Later we introduce camera calibration, stereo calibration, and how to calculate real distance from depth map.
| Identifer | oai:union.ndltd.org:wpi.edu/oai:digitalcommons.wpi.edu:etd-theses-1273 |
| Date | 24 April 2015 |
| Creators | Xie, Bingqian |
| Contributors | Xiangnan Kong, Committee Member, Lifeng Lai, Committee Member, Xinming Huang, Advisor |
| Publisher | Digital WPI |
| Source Sets | Worcester Polytechnic Institute |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | Masters Theses (All Theses, All Years) |
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