ON-ROAD COLLISION WARNING BASED ON

MULTIPLE FOE SEGMENTATION USING A

DASHBOARD CAMERA

OBJECTIVES:
Numerous accidents can be avoided if drivers are alerted just a few seconds before a
collision.
Thus, this paper explores the possibility of a visual collision-warning system solely using a
single dashboard camera that is currently widely available and easy to install.
Existing vision-based collision warning systems focus on detecting specific targets, such as
pedestrians, vehicles, and bicycles, based on statistical models trained in advance.
Instead of relying on these prior models, the proposed system aims to detect the general
motion patterns of any approaching object.
Considering the fact that all motion vectors of projecting points on an approaching object
diverge from a point called focus of expansion (FOE), we construct a cascade-like decision
tree to filter out false detections in the earliest possible stage and develop a multiple FOE
segmentation algorithm to classify optical flows to distinct originating objects based on their
individual FOEs. Further analysis is performed on objects in a high risk area, called the
danger zone.
Tracking steadiness is examined and the time-to-collision (TTC) is estimated to evaluate
collision risks.

EXISITING SYSTEM:
Combining an odometer with a moving robot, it claimed that visual looming is a simple and
robust cue for range sensing.
To compensate for the weaknesses and to balance the power of these sensors, the latest
approaches tried to apply sensor fusions to increase reliability.
It combined lidar and stereo vision to assess collision risks.
It integrated a laser scanner and a single camera to detect pedestrians for automatic braking.

DRAWBACKS:
Sometimes these sensors are not working.
It is find only specified moving object.

PROPOSED SYSTEM:
Most collision avoidance systems focus on detecting dangerous or vulnerable targets such as
vehicles, bicycles, and pedestrians.
These knowledge-based methods rely on pre-trained models of color, texture, shape, and
symmetry features to detect specific targets.
Alternatively, we try to exploit the general motion patterns of any approaching object, or
called a looming object.
In addition to vehicles, bicycles, and pedestrians, the proposed system aims to detect all
collision-prone obstacles either on or not on the ground, such as animals, tire remains, and
dropped items.

ADVANTAGES:
Multiple FOE segmentation significantly reduces the number of false positives such as
leaving and translating objects.
The danger zone analysis further increases the number of true positives, such as the case when
an object and the host vehicle directly approaches each other

BLOCK DIAGRAM:

DECISION MAKING
INPUT VIDEO

OPTICAL FLOW
ESTIMATION

SEGMENTATION

FOR COLLISION
WARNING

METHODOLOGY:
INPUT VIDEO
OPTICAL FLOW ESTIMATION
SEGMENTATION
DECISION MAKING FOR COLLISION WARNING