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Visual Perception Using Monocular Camera

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Ahmad A. Al-Ateeqi
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4 views

Visual Perception Using Monocular Camera

Uploaded by

Ahmad A. Al-Ateeqi
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ASU

MCT543 (PG2024) - Advanced Autonomous systems Design (35041)


MILESTONE ONE

Ahmed Alaa | 240021

Visual Perception Using Monocular Camera


Reasons for Selecting This Example
The example "Visual Perception Using a Monocular Camera" was chosen because it
effectively demonstrates essential techniques and concepts in the field of autonomous
vehicle perception. Monocular cameras play a crucial role in advanced driver-assistance
systems (ADAS) and fully autonomous vehicles, making this example particularly relevant
for understanding how these systems interpret information from their environment. The
simulation offers insights into critical tasks such as lane boundary detection and vehicle
detection, both of which are fundamental for ensuring safety and efficiency in driving
scenarios.

Overview of What the Example Demonstrates


This example demonstrates the creation of a monocular camera sensor simulation that can
accurately detect lane boundaries and vehicles, reporting these detections in the vehicle's
coordinate system. Key tasks performed by the sensor include:
• Lane Boundary Detection: This involves identifying the edges of lanes to assist with
lane-keeping maneuvers.
• Vehicle and Object Detection: This refers to recognizing the presence of other
vehicles, pedestrians, and obstacles in the vehicle's path.
• Distance Estimation: This entails calculating the distance from the ego vehicle to
various obstacles, which is critical for collision avoidance systems.
The information obtained from the monocular camera can be used for several applications,
such as lane departure warnings, collision alerts, and lane-keeping assist systems.
Furthermore, when integrated with data from other sensors, it can enhance emergency
braking systems and other safety-critical features.
Essential Components of the Example, Including Used Data Sources and Specific
Detection Algorithms

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The example is organized around several key components, including camera configuration,
video processing, and specific algorithms for detecting lane markers and vehicles:
• Camera Configuration: Accurate calibration of the camera's intrinsic and extrinsic
parameters is essential for effective conversion between pixel and vehicle
coordinates. The example uses a `monoCamera` object to define the camera's
properties and its vehicle coordinate system.
• Video Processing: Before processing an entire video, a single frame is analyzed to
illustrate the relevant concepts. A `VideoReader` object is used to open the video
file and load frames efficiently.
• Bird's-Eye View Transformation: A bird's-eye view image is generated to simplify
lane marker detection. This transformation allows lane markers to be represented
uniformly, facilitating easier segmentation.
• Lane Marker Detection: The function `segmentLaneMarkerRidge` is employed to
isolate candidate lane marker pixels from the road surface. It utilizes a parabolic lane
boundary model (e.g., \(ax^2 + bx + c \)) to represent lane markers, rejecting outliers
through a robust curve-fitting algorithm based on random sample consensus
(RANSAC).
• Vehicle Detection: An aggregate channel features (ACF) detector is loaded to
identify vehicles. This detector is fine-tuned using the
`configureDetectorMonoCamera` function to focus on vehicles on the road surface,
thereby enhancing detection accuracy.
• Detection Algorithms: The algorithms used include segmentation techniques,
RANSAC for curve fitting, and distance computation based on vehicle coordinates.
The example effectively demonstrates how these components work together to
achieve reliable detection and perception of both static and dynamic elements in the
environment.
In conclusion
This example not only illustrates the inner workings of a monocular camera sensor but
also provides a framework for implementing perception algorithms that can detect and
interpret static elements in the environment, such as lanes, traffic lights, and road
boundaries.

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