An Obstacle Detection and Distance Measurement Method for Sloped Roads Based on VIDAR

Environmental perception systems can provide information on the environment around a vehicle, which is key to active vehicle safety systems. However, these systems underperform in cases of sloped roads. Real-time obstacle detection using monocular vision is a challenging problem in this situation. I...

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Bibliographic Details
Published in:Journal of robotics 2022-04, Vol.2022, p.1-18
Main Authors: Jiang, Guoxin, Xu, Yi, Gong, Xiaotong, Gao, Shanshang, Sang, Xiaoqing, Zhu, Ruoyu, Wang, Liming, Wang, Yuqiong
Format: Article
Language:English
Subjects:
Accuracy
Cameras
Classification
Coordinate transformations
Digital mapping
Distance measurement
Machine learning
Measurement methods
Methods
Monocular vision
Neural networks
Obstacle avoidance
Real time
Roads
Roads & highways
Sensors
Vehicle safety
Vehicles
Vision systems
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Summary:Environmental perception systems can provide information on the environment around a vehicle, which is key to active vehicle safety systems. However, these systems underperform in cases of sloped roads. Real-time obstacle detection using monocular vision is a challenging problem in this situation. In this study, an obstacle detection and distance measurement method for sloped roads based on Vision-IMU based detection and range method (VIDAR) is proposed. First, the road images are collected and processed. Then, the road distance and slope information provided by a digital map is input into the VIDAR to detect and eliminate false obstacles (i.e., those for which no height can be calculated). The movement state of the obstacle is determined by tracking its lowest point. Finally, experimental analysis is carried out through simulation and real-vehicle experiments. The results show that the proposed method has higher detection accuracy than YOLO v5s in a sloped road environment and is not susceptible to interference from false obstacles. The most prominent contribution of this research work is to describe a sloped road obstacle detection method, which is capable of detecting all types of obstacles without prior knowledge to meet the needs of real-time and accurate detection of slope road obstacles.
ISSN:1687-9600
1687-9619
DOI:10.1155/2022/5264347