Vehicle detector under parallel binocular cameras

With the development of urban traffic, the demand of the vehicle detector is increasing gradually. The paper presents a vehicle detecting algorithm based on binocular stereo vision. Firstly, in the delineated ROI(region of interest), foreground objects are detected by target detection and background constructor. Then, the depth information of the foreground area is calculated by the principle of stereo vision and the three-dimensional information of foreground area is mapped to the two-dimensional ground plane. Finally, combining depth and two-dimensional information, we can obtain the parameters of moving vehicle and achieve the function of a vehicle detector. The experiment results tested by different videos show that the algorithm we proposed has high robustness and stability.