Development of Driver Assistance System Based on Advanced Usage of Multiple View Images

基于多视图图像高级使用的驾驶辅助系统开发

• 批准号: 13555110
• 负责人: TANIMOTO Masayuki
• 金额: $ 8.83万
• 依托单位: Nagoya University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-13555110/
• 关键词: ITS(Intelligent Transport Systems); Driver assistance; Multi-viewpoint image; Integration Restructuring; HIR(Human-Oriented Information Restructuring; Arbitrav-viewpoint image; Elimination of blind corner; Position and orientation sensor; 交差点右折

Through this research, the following results have been obtained :1. The HIR (Human-Oriented Information Restructuring) system has been proposed. The HIR system integrates and restructures various information such as multi-view images, and displays the results of restructuring to the users in an image form.2. As an example of HIR, "Bird's-Eye View System" has been developed, which generates an arbitrary viewpoint image from above an intersection. The algorithm of the free-view generation is based on 2-D projective transformation and estimation of the heights of a car. This system generates bird's-eye view images in the size of 160x120, 10 frame/sec, in a 1/24 diorama simulation.3. A visual assistance system in a right turn situation in an intersection has been developed. This system utilizes camera images installed on the opposed car and infrastructure and generates visual assistance images which eliminate blind corners for the driver.4. A prototype car that works in a real environment has been developed. "My Car" is equipped with 5 PCs, 3 cameras, a GPS sensor, and tri-axis orientation sensor. "Opposed Car" is equipped with a PC, a camera, a GPS sensor, and tri-axis orientation sensor. An infrastructure camera is installed on the traffic signal.5. A visual assistance system that generates driver assistance images in a right turn situation is developed and evaluated in a real environment. The results show that the driver recognizes the opposed car correctly.6. From these results, it is concluded that the advanced utilization of multi-viewpoint images is very useful for driver assistance system.

通过本研究，取得以下成果： 1． HIR（以人为本的信息重组）系统被提出。 HIR系统对多视图图像等各种信息进行整合和重组，并将重组结果以图像的形式展示给用户。 2．作为 HIR 的一个例子，“鸟瞰系统”已经被开发出来，它可以从交叉路口上方生成任意视点图像。自由视图生成的算法基于二维投影变换和汽车高度的估计。该系统以1/24立体模型模拟的方式生成160x120、10帧/秒的鸟瞰图图像。 3．开发了十字路口右转视觉辅助系统。该系统利用安装在对方汽车和基础设施上的摄像头图像，生成视觉辅助图像，消除驾驶员的盲角。4．一款在真实环境中工作的原型车已经开发出来。 “我的车”配备了 5 台 PC、3 个摄像头、一个 GPS 传感器和三轴方向传感器。 “对手车”配备了电脑、摄像头、GPS传感器和三轴方向传感器。交通信号灯上安装了基础设施摄像头。5．开发了一种在右转情况下生成驾驶员辅助图像的视觉辅助系统，并在真实环境中进行评估。结果表明，驾驶员正确识别了对方车辆。 6．从这些结果可以得出结论，多视点图像的高级利用对于驾驶员辅助系统非常有用。

项目成果

沓名輝幸, 関藤誠, 豊田興一, 楊世洪, 藤井俊彰, 木本伊彦, 谷本正幸: "鳥瞰図生成のためのリアルタイム画像処理システム"第7回画像センシングシンポジウム. 279-280 (2001)

Teruyuki Kutsuna、Makoto Sekito、Koichi Toyoda、Shihong Yang、Toshiaki Fujii、Ihiko Kimoto、Masayuki Tanimoto：“鸟瞰图生成的实时图像处理系统”第 7 届图像传感研讨会（2001 年）。

沓名輝幸, 関藤誠, 藤井俊彰, 木本伊彦, 谷本正幸: "ITSのためのリアルタイム任意視点鳥瞰図生成システムの高速化"2002年電子情報通信学会総合大会. (発表予定).

Teruyuki Kutsuna、Makoto Sekito、Toshiaki Fujii、Ihiko Kimoto、Masayuki Tanimoto：“ITS 的高速实时任意视点鸟瞰图生成系统”2002 IEICE 大会（预定演示）。

H.Sakai, T.Fujii, M.Tanimoto: "Visual Assistances to Right Turn in an Intersection by Using HIR System"2002 Society Conference of IEICE. A-17-24. 188 (2002)

H.Sakai、T.Fujii、M.Tanimoto：“使用 HIR 系统在交叉路口右转的视觉辅助”2002 年 IEICE 学会会议。

H.Sakai, K.Toyota, T.Fujii, T.Kimoto, M.Tanimoto: "Visual Assistances to Right Turn in an Intersection by Using HIR(Human-Oriented Information Restructuring) System"IEEE Intelligent Vehicles Symposium 2002. (発表予定).

H.Sakai、K.Toyota、T.Fujii、T.Kimoto、M.Tanimoto：“Visual Assistances to Right Turn in an Intersection by Use HIR（Human-Oriented Information Restructuring）系统”IEEE 智能车辆研讨会 2002。（预定的演示文稿） ））。

沓名輝幸, 関藤誠, 藤井俊彰, 木本伊彦, 谷本正幸: "ITSのためのリアルタイム任意視点鳥瞰図生成システムの高速化"2002年電子情報通信学会総合大会. A17-21,394 (2002)

Teruyuki Kutsuna、Makoto Sekito、Toshiaki Fujii、Ihiko Kimoto、Masayuki Tanimoto：“ITS 实时任意视点鸟瞰图生成系统的加速”2002 IEICE 大会 A17-21,394 (2002)。