A Rear-Vehicle Detection System for Static Images Based on Monocular Vision

A rear-vehicle detection system of static images based on monocular vision is presented. It does not need the road boundary and lane information. Firstly, it segments the region of interest (ROI) by using the shadow underneath the vehicle and edges. Secondly, it accurately localizes the ROI by vehicle features such as symmetry, edges and the shadow underneath the vehicle, etc. Finally, it completes vehicle detection by combining knowledge-based and statistics-based methods. Under various illuminations and different roads (different day time, different scenes: highway, urban common road, urban narrow road), the system shows good results of recognition and performance