Tracking white road line by particle filter from the video sequence acquired by the camera attached to a walking human body

Shohei Takahashi, Jun Ohya

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper proposes a method for tracking and recognizing the white line marked in the surface of the road from the video sequence acquired by the camera attached to a walking human, towards the actualization of an automatic navigation system for the visually handicapped. Our proposed method consists of two main modules: (1) Particle Filter based module for tracking the white line, and (2) CLAFIC Method based module for classifying whether the tracked object is the white line. In (1), each particle is a rectangle, and is described by its centroid's coordinates and its orientation. The likelihood of a particle is computed based on the number of white pixels in the rectangle. In (2), in order to obtain the ranges (to be used for the recognition) for the white line's length and width, Principal Component Analysis is applied to the covariance matrix obtained from valid sample particles. At each frame, PCA is applied to the covariance matrix constructed from particles with high likelihood, and if the obtained length and width are within the abovementioned ranges, it is recognized as the white line. Experimental results using real video sequences show the validity of the proposed method.

Original languageEnglish
Title of host publicationProceedings of SPIE-IS and T Electronic Imaging - Image Processing
Subtitle of host publicationAlgorithms and Systems X; and Parallel Processing for Imaging Applications II
DOIs
Publication statusPublished - 2012 Mar 5
EventImage Processing: Algorithms and Systems X; and Parallel Processing for Imaging Applications II - Burlingame, CA, United States
Duration: 2012 Jan 232012 Jan 25

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume8295
ISSN (Print)0277-786X

Conference

ConferenceImage Processing: Algorithms and Systems X; and Parallel Processing for Imaging Applications II
CountryUnited States
CityBurlingame, CA
Period12/1/2312/1/25

Keywords

  • CLAFIC
  • Lane Recognition
  • PCA
  • Particle Filter
  • lane detection
  • visually impaired

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

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  • Cite this

    Takahashi, S., & Ohya, J. (2012). Tracking white road line by particle filter from the video sequence acquired by the camera attached to a walking human body. In Proceedings of SPIE-IS and T Electronic Imaging - Image Processing: Algorithms and Systems X; and Parallel Processing for Imaging Applications II [82950V] (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 8295). https://doi.org/10.1117/12.907814