Development of an On-Board Crosswalk Detection for Pedestrian Protection Using a Monocular Camera
Recent, there are many pedestrian accidents in Europe and Japan, and the rate of pedestrian fatalities is higher than the other accidents. These pedestrian accidents usually occur in complex environment such as residential or urban areas where many people
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Abstract Recent, there are many pedestrian accidents in Europe and Japan, and the rate of pedestrian fatalities is higher than the other accidents. These pedestrian accidents usually occur in complex environment such as residential or urban areas where many people exist. Many proposed active safety systems use the sensor fusion approach such as a millimeter wave radar, a LIDAR (Laser Imaging Detecting and Ranging) sensor and a monocular/stereo camera. However, it is difficult for these systems to prevent pedestrian accidents in complex environment. In addition, it is important for such active safety systems to be commercialized at a low cost and be equipped in a simple way, aiming at large-scale system penetration in automobile markets. Therefore, we developed an on-board crosswalk detection system by using a monocular camera and a warning system depending on pedestrian recognition. Crosswalk is located at the position where many people appear and the majority of pedestrian accidents occur. Based on the fact, the proposed system can achieve less false-alarm-rate of pedestrian detection by a combination of crosswalk detection and pedestrian detection. This paper shows the necessity of the crosswalk detection and warning system by the statistical data about pedestrian accidents near crosswalk. An experimental vehicle sensor and equipments used for testing are described. Next, this paper proposes an algorithm of the crosswalk detection and warning system including pedestrian detection with optical flow approach. Finally, this paper shows the feasibility of the system from
F2012-F03-019 Y. Sakai (&) P. Raksincharoensak I. Shimizu MasaoNagai Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Tokyo, Japan D. Ulbricht R. Adomat Continental, A.D.C, GmbH, Lindau, Germany
SAE-China and FISITA (eds.), Proceedings of the FISITA 2012 World Automotive Congress, Lecture Notes in Electrical Engineering 197, DOI: 10.1007/978-3-642-33805-2_30, Ó Springer-Verlag Berlin Heidelberg 2013
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the relationship between the detection distance and the rate of detection by using many video data captured in city road in Tokyo.
Keywords Pedestrian protection Active safety Driver assistance system Onboard camera Image processing Crosswalk detection HMI
1 Introduction Statistical data of traffic accidents shown in Fig. 1 reveals that pedestrian fatalities are a particular priority in Europe and Japan. For instance, Figs. 1, 2 show that pedestrian fatalities account for about 35 % of all road fatalities in Japan [1], about 12 % in US [2] and about 17 % in Europe [3]. Most pedestrian accidents relate to situations when pedestrians are crossing a road, as indicated in Fig. 2. Advanced driver assistance systems which implement technical solutions for pedestrian protection could help to lower the number of these fatalities. Current approaches make use of stereo cameras, millimeter wave radar and stereo camera sensor fusion or stereo infrared sensors for ex
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