An Approach to the Vehicle Tracking Method using Intensity Projection of the Edge Image

Kenichi Yamada, Toshio Ito

Research output: Contribution to journalArticle

4 Citations (Scopus)


This paper describes the preceding vehicle recognition and road-lane recognition methods for the rear-end collision avoidance system (RCAS) which we are developing. These methods are using an edge histogram method based on modelbased vision. The edge histogram method can detect line elements of the objects stably with low calculation cost. When the region of interests for the preceding vehicle and road lanes in the image are established and their projected edge histograms are observed in time series order, we can recognize the positions of the vehicle and the lane. Furthermore, we apply Kalman Filter to their motions and predict their locations for time series detection. Using this stable recognition, we derive a collision time to control the on-board brake system. We show the performance of these methods by experimental results.

Original languageEnglish
Pages (from-to)327-332
Number of pages6
JournalIEEJ Transactions on Sensors and Micromachines
Issue number6
Publication statusPublished - 1998 Jan 1


ASJC Scopus subject areas

  • Mechanical Engineering
  • Electrical and Electronic Engineering

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