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Robust Extraction of Wheel Region for Vehicle Position Estimation using a Circular Fisheye Camera


Kenichi Hirose, Takashi Toriu, Hiromitsu Hama


Vol. 9  No. 12  pp. 55-62


Vision-based research in driver support and traffic monitoring systems aiming for collision avoidance and for free traffic jams has attracted a lot of attention lately. In this paper, we propose a robust new extraction method of wheel region for estimating the vehicle position on a road taking the distortion in a circular fisheye image into consideration. In order to make the process more effective, Sobel edge detector is used after modification. Through experimental results, the effectiveness of our proposed method is confirmed.


circular fisheye, wheel extraction, tire-road contact point, side view, distortion of projection system