Detection of Unoccupied Areas of the Road in Images from Mono Camera with Use of Multilevel Image Decomposition

The problem of detecting not occupied areas of the road is useful in many ADAS functions that include Lane Departure Warning (LDW), Lateral Control (LC), Adaptive Cruise Control (ACC). The problem may be in general defined as the ability to distinguish such areas from those that are occupied by other traffic members. The objective here is to provide data useful, for example, in planning vehicle's maneuvers. In this work, we propose a solution that supports the recognition of such areas. The proposed method is based on a procedure similar to the one used in Discrete Wavelet Transform (DWT) used in image decomposition. One of the introduced modifications relies on using simpler filters, whose structure facilitates their hardware implementation.