Real-time image-based vehicle detection based on a multi-stage classification

摘要

The present disclosure is directed to an autonomous vehicle having a vehicle control system. The vehicle control system includes a vehicle detection system. The vehicle detection system includes receiving an image of a field of view of the vehicle and identifying a region-pair in the image with a sliding-window filter. The region-pair is made up of a first region and a second region. Each region is determined based on a color of pixels within the sliding-window filter. The vehicle detection system also determines a potential second vehicle in the image based on the region-pair. In response to determining the potential second vehicle in the image, the vehicle detection system performs a multi-stage classification of the image to determine whether the second vehicle is present in the image. Additionally, the vehicle detection system provides instructions to control the first vehicle based at least on the determined second vehicle.

主权项

1. A method comprising:
receiving, from an image-capture device coupled to a first vehicle, an image of a field of view of the first vehicle; identifying a plurality of region-pairs in the image with a sliding-window filter, wherein each region-pair comprises a first region of the image and a second region of the image, wherein each region of the image is determined based on a color of pixels within the sliding-window filter; determining a potential second vehicle in the image based on the plurality of region-pairs; in response to determining a presence of the potential second vehicle in the image, performing a multi-stage classification of the image as a whole to determine whether the second vehicle is present in the image, wherein the multi-stage classification is ended based on a given stage resulting in a determination of absence of the second vehicle in the image, wherein each stage of the multi-stage classification comprises a car-detection function configured to detect a car in the image; and providing instructions to control, using a computing device, the first vehicle based at least on the second vehicle being determined to be present in the image.