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![Page 1: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/1.jpg)
Distance Determination for an Automobile Environment
Shane Tuohy
![Page 2: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/2.jpg)
Introduction
In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision Factbook 2008]
Effective distance determination can go a long way to reducing injuries
![Page 3: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/3.jpg)
Current Systems
Mercedes Pre-Safe Audi Pre-Sense Plus Toyota Pre-Collision System
All are RADAR systems Expensive Cannot detect humans, animals Susceptible to interference
![Page 4: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/4.jpg)
System Overview
Front facing standard optical camera
Cheap Many uses Simple to install
![Page 5: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/5.jpg)
OpenCV
Begun by Intel, currently maintained by community, under stewardship of Willow Garage
Extensive library of Computer Vision functions
C, C++, Python, Java
No need to continually ‘reinvent the wheel’
![Page 6: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/6.jpg)
System Overview
Capture Image Process (OpenCV) Feedback To User
![Page 7: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/7.jpg)
System Overview
Capture Image Process (OpenCV) Feedback To User
![Page 8: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/8.jpg)
Image Processing Steps
Threshold Image
Warp Perspective
Determine Distance
![Page 9: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/9.jpg)
Thresholding
Remove road surface and highlight objects Sample road surface in front of vehicle Remove pixels ±35 of sampled value Apply binary threshold
![Page 10: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/10.jpg)
Image Processing Steps
Threshold Image
Warp Perspective
Determine Distance
![Page 11: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/11.jpg)
The Problem
Distance in image does not change linearly as vehicle changes position
![Page 12: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/12.jpg)
The Solution
Inverse Perspective Mapping
![Page 13: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/13.jpg)
Inverse Perspective Mapping
Geometric transform which allows us to remove perspective effect
![Page 14: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/14.jpg)
Image Processing Steps
Threshold Image
Warp Perspective
Determine Distance
![Page 15: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/15.jpg)
Distance Determination
All road pixels are zero
Analyze area in front of car
Find first non zero pixels
Translate to distance using scaling factor
![Page 16: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/16.jpg)
Accurate Distance Calibration How can we know this ‘scaling factor’?
Need to calibrate for particular camera setup
Can be done once for given environment and parameters Lay 1m object on road surface Use chessboard pattern of known size
Roughly calculated for project testing
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System Overview
Capture Image Process (OpenCV) Feedback To User
![Page 18: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/18.jpg)
Information Overlay
Provide graphical feedback to user
![Page 19: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/19.jpg)
Project Milestones
1. Threshold to remove road surface. Generate transformation matrix
2. Transform image to IPM view
3. Distance determination
4. Graphics overlay
5. Modify algorithm for use on a real time video stream
![Page 20: Shane Tuohy. In 2008, rear end collisions accounted for almost 25% of all injuries sustained in road traffic accidents on Irish roads [RSA Road Collision.](https://reader030.fdocuments.in/reader030/viewer/2022032802/56649e025503460f94aec5e4/html5/thumbnails/20.jpg)
Conclusion
Further work possible Improve thresholding for different road conditions Improve performance of IPM algorithm Automatic calibration implementation
Paper submitted to ISSC 2010, awaiting review S. Tuohy, D. O Cualain, M. Glavin, E. Jones:“Distance
Determination for an Automobile Environment using Inverse Perspective Mapping in OpenCV”
Successful implementation of proposed algorithm
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Demonstration