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METHOD FOR RANGE ESTIMATION WITH MONOCULAR CAMERA FOR VISION-BASED FORWARD COLLISION WARNING SYSTEM
METHOD FOR RANGE ESTIMATION WITH MONOCULAR CAMERA FOR VISION-BASED FORWARD COLLISION WARNING SYSTEM
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机译:基于视觉的前向碰撞预警系统的单摄像机范围估计方法
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摘要
A distance estimation method of a frontal collision warning system based on an image using a monocular camera is disclosed. The present invention comprises the processes of: obtaining a virtual horizon value from a vehicle position where an average width of an actual fixed vehicle and vehicle width information using the following equation (4) wherein yh is yb - Hc · (ωa / Wa); and estimating a distance from the vehicle position using the following equation (2) wherein d is Fc · Hc / (yb - yh).
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机译:公开了一种基于单目相机的基于图像的正面碰撞预警系统的距离估计方法。本发明包括以下过程:使用以下等式(4)从实际固定车辆的平均宽度和车辆宽度信息的车辆位置获得虚拟地平线值,其中yh是yb-Hc· (&a / Wa);使用下式(2)估计d至车辆位置的距离,其中d为Fc。 HC /(yb-yh)。
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