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Lane tracking and vehicle tracking (rainy day)
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- Опубліковано 19 сер 2024
- marcosnietoblog...
Lane tracking for Lane Departure Warning Systems (LDWS) and vehicle detection and tracking for Safety Distance System (SDS)
Yes, we use a single camera, and indeed the processing was done in grayscale, although visualization was kept in color.
@Surinder
Yes, the camera model is pinhole. We didn't use Haar features because they are patented, instead HOG can be used in combination with shadows, symmetry, etc.
The distance to the vehicle can be computed with the homography projecting the lowest pixels of the vehicle to the road plane, and defining the coordinate system to be at the front of the vehicle. Google inverse perspective mapping for more details.
Regards!
@Marcos，greate works, excellent!
Could you share your codes ? I want to fix bugs in my similar program , only for learning;and share my similar project later after fixing;
thank you very much in advance!
libo22@gmail.com
Marcos Nieto Awesome work, its like an airplane to avoid terrains. Very similar to Rolls Royce program for parking.
Do youhave the code？
Hi! Well, actually if it has an ARM Cortex A9, you can build OpenCV and most of the work is done : )
Some code optimization (NEON, TBB) and possibly you can run it real-time!
The distance is measured wit computer vision only. The camera is calibrated and the distance can be computed assuming that the road is locally planar.
Hi! Thanks a lot.
I am using Hough transform to get the vanishing point, but only on startup. After that I use bump intensity detectors for lane markings detection, and road segmentation to guess the number of lanes and the presence of vehicles.
Hi Marcos, how do you calculate bump intensity ? Could you please explain? I appreciate it in advance
Hi Marcos, I am also curious about how you segment the roads ? Could you please give a short brief ?
The distance is computed since we know the calibration matrix of the camera, and compute the homography between the image plane and the road plane.
It's all done with a single camera and image processing. We had the calibration of the camera, and compute distances from the camera to the position of the vehicles in the road plane.
We assume the road is flat in the close distance (
Yes, mostly data structures, image handlers, and some drawing functions.
Sí! Aunque este trabajo es un poco antiguo ya utilizaba OpenCV 1.1. Ahora tenemos cosas mucho mejores con OpenCV 2.4.6, y pronto saldrá OpenCV 3.0.0. Un saludo!
@Marcos Thanks a lot.
awesome job!!! Now I got inspired, I wanna learn it and to research about these stuff!!! thanks
an awesome work , I love this
Do a Google search for Self Driving Cars. There's an article in the NY Daily News about Audi and BMW pushing forward with this technology. Google has authorization from the state of California to operate thier autonomous vehicle as long as a person is supervising. Applications similar to this that are connected to various sensors around the vehicle extend the autonomous technology. In about 20 years we'll just punch in our destination on the GPS, and the car will do the rest.
now this is really nice. thanks.
I'm working on a project about taking referential spatial reference to the observer using a camera.
Hello!!!! Impressive work!!!!!! Did you just use hough transform or other algorithm to detect the lane markings?
Wondering what platform you are using to achieve this frame rate.
@marcos Nice work you did.
I need your some help.
did you used pinhole camera model to get camera matrix?
did you used haar cascade classifier for object detection?
Which formula you have used to calculate distance of car from camera using homography ?
كاميرا إستشعار الإشارات الطريق ومسافة المركبات الأمامية وإنحاء مسار الطريق
This is awesome...
Imagine if you can make a game out of this, something like if you can get pass any number of vehicle in a certain time(My weird thoughts) :)
No lo sé, esta secuencia es Madrid, la M30 si no recuerdo mak.
very nice! did you use imaging to obtain the distance of other cars? or radar?
Great work there, am doing similar thing in my fyp..
But using matlab instead..
I am now in dire need of code or at least know how to reach this point.......
hard work for devloper
hi,
I really appreciate the good result. I know it may be inconvenient for you to share the code. Could you tell some key points? How do you detect the lanes without other lines? Do you use hough or other to detect lines? How do you improve the accuracy of detection?
Best regards,
Neal
Hello Marcos! How do you recognize the cars? blob? SURF? And How do you measure distance to the cars? Do you use 2 cameras?
Hi Marcos, I would like to know, how do you handle the situations, when there is no lane on the road ? There are times, when vehicle moves from a road having lane to a road having no lane.
Excelente trabajo, felicitaciones ¡¡¡, usaste OpenCV? Saludos
I want to share my driving video after completing my code from your github sources soon. Thanks
wonderful!
it could be ported to Android, I am sure, but I am not focusing on that now. Actually, porting such security systems to mobile platforms would be only for entertainment, not security.
BR
how do you get the distance. Is there some sensor or are you using some computer vision functionality?
Very nice work! May I ask the model of the camera?
how do you make the reference point so you know that car is right/left ?
se puede utilizar en robotica, m mi carrera es industrias alimentarias, podria aplicarlo en procesos industriales. te agradeceria que fueras mas especifico en el programa o la idea del codigo fuente.
@Macros Is the height of object is known?
In my case object height needs to be calculate and also distance to camera.
Can you tell me any way to find object height?
Also, now I have bird eye view of Object, but how to find the height of Object in Bird eye view. I am only left with Object Height.
Please help.
Hello, can you say how you determine angle of rotetion for the car?
Hi! first of all, thank you for sharing your work with us. :D I am working one vehicle tracking algorithms. what you have done is great. and I would like to know what did you used or serouce code if it's public plz :)
@marcos I used HOG+SVM for car detection using car.xml. But It is very slow taking 4-6 minutes to detect car and it also have false detections. Pls help.
Could you share your code , please? I am a student and try to do a task on detection of cars and road lines of my code has some trouble keeping the car recognition
Check this you may find what you're looking for
ua-cam.com/video/821ZnewFLcY/v-deo.html
Se parece a la salida de Santiago de Chile...¿?
Hi Marcus
Could you tell me which method you used to segment the cars?
Regars
Excelente
can you tell me the method or function that you use to build this?
wow excellent..would you make some lesson for this? Or please share the codes. Thanks
Will love to make it with my pandaboard
Hii sir your vihical dirve him slefe?
How did you measure the distance of cars? Would you recommend me some resources? Thank you.
You can use flat world assumption to get linear reprojection from image plane to road plane (assuming undistortion applied) and metric calibration available. For better accuracy, tracking the vehicle in the bird's-eye view can also help fix the homography. Finally, if you have a good detector, you can also obtain 3D estimates of the vehicle from its 2D bounding box, which then you can use to estimate it's distance to the camera if the vehicle dimensions are approximately known.
is this for public use or just testing? if its for the public can you get it for android? thanks in advance!
Single Camera? How you have the distance?
So basically its Mobileye but your own version?
hi, I'm working for my final year project. This is really useful. Can i get a source code?
how does this approximate distance?
hola, soy estudiante de ingenieria y estoy realizando un trabajo similar en opencv, me gustaria saber si me podrias enviar algun tipo de tutorial de como haces para determinar ese "porcentaje" que sale en que supongo que es el grado de desviacion de la linea amarilla marcada con respecto a que tanto se acerca a las azules dentro del cuadro verde.. necesito hacer algo parecido.. espero me puedas ayudar, de ante mano gracias,, genial el video
Hola!
Gracias por escribir. Lo mejor que puedo hacer es dirigirte a los links que he compartido anteriormente. En mi blog (marcosnietoblog.wordpress.com) puedes encontrar prácticamente todo mi material, incluido mi tesis doctoral, donde viene todo explicado.
Espero que tengas suerte!
Un saludo,
Marcos
Do you have the code？
Niiiiiiiceeee!!!!!
I want to order 1 unit of this thing please
amazing :)
very nice :)
using openCV?
Hello, can you build a terminator thx
can i follow your work？
Bčne kamere in še zadnja kamara fali zraven vse štiri strani bi morale delovati ko se voziš če želiš da to pomaga v prometu.
comment ta fé
How do you calculate distance with images?
Porschen Hund, The road is approximated as a plane in the local neighborhood so we can compute an homography between image and road plane. The distance is then computed assuming the cars are on the plane.
Oh, I see. That's brilliant. What is the longest accurate range when it comes to safety (not hitting a pedestrian) ?
Wow!! Don't believe this!!!!!!!!!!!
hi Marcos, great work,can you help me do similar project, I can pay you!
Dudu
Hey great work. I’m working on a similar project and need some help. Can you give me your email or something and help me please?