Obstacle Detection in Cluttered Traffic Environment Based on Candidate Generation and Classification

Abstract

A novel method to detect vehicles is presented in the paper. Assumption of the vehicle is made using the geometrical features of the vehicle rear by the statistical histogram. Then hypothesis is verified using the property of the shadow cast by the car according to a prior acknowledgement of traffic scene. Finally, the vehicle detection is realized by hypothesis and verification of objects. The experimental results show the efficiency and feasibility of the method.