| 摘要 |
Disclosed are a front vehicle detecting and tracking system using images and a vehicle detecting and tracking method using the same which detects a vehicle to be tracked from images acquired by a front camera of a vehicle and uses the images acquired for tracking the vehicle. According to the present invention, a front vehicle detecting and tracking system using images comprises the steps of: acquiring an original image from a camera located in front of a vehicle; generating a top view image having three-dimensional information from the original image; generating an edge image from the top view image; converting the edge image from a Cartesian coordinate system to a polar coordinate system; obtaining an angle accumulation histogram for an angle axis in the polar coordinate system; extracting peaks form the angle accumulation histogram; extracting a vehicle candidate group from a combination of the peaks; and determining the existence of a vehicle in the vehicle candidate group and detecting the vehicle if the vehicle exists. According to the present invention, a front vehicle detecting and tracking method using images can divide a front vehicle from a background image to accurately detect the front vehicle and can track the front vehicle accurately and quickly, and can also realize a high-speed algorithm compared to an existing front vehicle detecting and tracking method to be more advantageous to commercialization due to the characteristics of low cost and high efficiency. [Reference numerals] (AA) Generate an image at a local area top view;(BB) Generate an edge image;(CC) Convert into a polar coordinate system;(DD) Angle accumulation histogram;(EE) Extract peaks;(FF) Generate a vehicle candidate group;(GG) Recognize a vehicle;(HH) Track the vehicle |
