Visual-based assistance for electric vehicle driving

This paper presents a unique assistance system for driving a vehicle. We wish to establish an ideal intelligent vehicle that detects obstructions through use of the mounted sensors, which provide sufficient visual-based aid. To this end, we utilize an infrared camera, a laser range finder, and a gyrosensor so that these sensors provide some assisted visual cues for a driver to identify unexpected obstructions. In this proposed vehicle, we develop several interesting modules. For example, in addition to a 2D heat-map provided by the infrared camera, the system provides depth to the map by utilizing the tracking results of the gyroscope. The depth values in the region of interests are computed in a real-time video-frame rate by motion stereo from a single far-infrared camera, based on typical pinhole lens model. We also develop a graphical representation of a virtual camera so that the driver can see the field of view presented by the mounted sensor. The laser range sensor will compensate the camera by increasing the field of view and providing accuracy for detected objects. Indoor-based experimental results using a portable electric scooter demonstrate the feasibility and merits of this new sensory approach on the driving assistant system.