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 - The International Society for Optical Engineering
    Volume8295
    DOIs
    Publication statusPublished - 2012
    EventImage Processing: Algorithms and Systems X; and Parallel Processing for Imaging Applications II - Burlingame, CA
    Duration: 2012 Jan 232012 Jan 25

    Other

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

    Fingerprint

    walking
    Particle Filter
    human body
    Covariance matrix
    roads
    Camera
    Cameras
    cameras
    filters
    Line
    Navigation systems
    Principal component analysis
    modules
    rectangles
    Rectangle
    Module
    Pixels
    Likelihood
    Navigation System
    Centroid

    Keywords

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

    ASJC Scopus subject areas

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

    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 - The International Society for Optical Engineering (Vol. 8295). [82950V] https://doi.org/10.1117/12.907814

    Tracking white road line by particle filter from the video sequence acquired by the camera attached to a walking human body. / Takahashi, Shohei; Ohya, Jun.

    Proceedings of SPIE - The International Society for Optical Engineering. Vol. 8295 2012. 82950V.

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

    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 - The International Society for Optical Engineering. vol. 8295, 82950V, Image Processing: Algorithms and Systems X; and Parallel Processing for Imaging Applications II, Burlingame, CA, 12/1/23. https://doi.org/10.1117/12.907814
    Takahashi S, Ohya J. 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 - The International Society for Optical Engineering. Vol. 8295. 2012. 82950V https://doi.org/10.1117/12.907814
    Takahashi, Shohei ; Ohya, Jun. / Tracking white road line by particle filter from the video sequence acquired by the camera attached to a walking human body. Proceedings of SPIE - The International Society for Optical Engineering. Vol. 8295 2012.
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