ON-ROAD VEHICLE DETECTION AND TRACKING BASED ON ROAD CONTEXT AND THE AMBIENT LIGHTING ADAPTIVE FRAMEWORK

Abstract

Despite recent active research on vision-based vehicle detection and tracking, its lack of flexibility hindered practical use in real environments. To be practical, adaptation to various illumination conditions is an essential ingredient. We propose a novel adaptation framework that can improve on this current lighting adaptation using a simple road context, feature arbiter, and a proper feature fusion scheme. In real driving environments, self-supervised online learning can efficiently segment the road and nonroad regions in front of the host vehicle. Classification into these regions is very important to generate regions of interest (ROIs) for potential vehicle position, that is, road context. It improves on system efficiency by reducing noise and processing time. In our global and local lighting models, the feature arbiter selects an appropriate daytime or nighttime detector for each ROI. And finally, an adaptive fusion framework method can robustly track by selecting or removing the distinctive visual attributes. This system was successfully tested on real road data obtained with various ambient lighting conditions. (C) 2008 Wiley Periodicals, Inc. Int J Imaging Syst Technol, 18, 283-295. 2008; Published online in Wiley InterScience (www.interscience. wiley.com). DOI 10.1002/ima.20161