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The International Journal of Robotics Research
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Road Detection and Vehicle Tracking by Vision for Adaptive Cruise Control

R. Aufrère

Laboratoire des Sciences et Matériaux, pour l’Electronique et d’Automatique, Université Blaise-Pascal de Clermont-Ferrand, F-63177 Aubiere Cedex, Franceaufrere{at}lasmea.univ-bpclermont.fr

F. Marmoiton

R. Chapuis

F. Collange

J. P. Dérutin

Laboratoire des Sciences et Matériaux, pour l’Electronique et d’Automatique, Université Blaise-Pascal de Clermont-Ferrand, F-63177 Aubiere Cedex, France

This article deals first with a process designed to detect the circulation lane of a vehicle by onboard monocular vision. This detection process is based on a recursive updating of a statistical model of the lane obtained by a training phase. Once the lane has been located, a reconstruction algorithm computes the vehicle location on its lane and the three-dimensional shape of the road. Thereafter, the authors seek to detect and track vehicles situated in front of their vehicle and equipped with specific visual markers in order to achieve an accurate determination of their location and speed. By combining these various data, the most dangerous obstacle can be identified. Each of these three processes is described in detail, and significant examples are provided.

Key Words: road detection • three-dimensional reconstruction • vehicle tracking

The International Journal of Robotics Research, Vol. 20, No. 4, 267-286 (2001)
DOI: 10.1177/02783640122067390
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