Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 30835
Optical Flow Based System for Cross Traffic Alert

Authors: Giuseppe Spampinato, Salvatore Curti, Ivana Guarneri, Arcangelo Bruna


This document describes an advanced system and methodology for Cross Traffic Alert (CTA), able to detect vehicles that move into the vehicle driving path from the left or right side. The camera is supposed to be not only on a vehicle still, e.g. at a traffic light or at an intersection, but also moving slowly, e.g. in a car park. In all of the aforementioned conditions, a driver’s short loss of concentration or distraction can easily lead to a serious accident. A valid support to avoid these kinds of car crashes is represented by the proposed system. It is an extension of our previous work, related to a clustering system, which only works on fixed cameras. Just a vanish point calculation and simple optical flow filtering, to eliminate motion vectors due to the car relative movement, is performed to let the system achieve high performances with different scenarios, cameras and resolutions. The proposed system just uses as input the optical flow, which is hardware implemented in the proposed platform and since the elaboration of the whole system is really speed and power consumption, it is inserted directly in the camera framework, allowing to execute all the processing in real-time.

Keywords: Clustering, real time, vanishing point, optical flow, cross traffic alert

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 405


[1] S. Jeong, T. Kim, J. Lee, S. Lee and J. Lee, "Design analysis of precision Navigation System", 12th International Conference on Control, Automation and Systems, ICCAS, Jeju, South Korea, pp. 2079-2082, October 16-19, 2012.
[2] T. Aung and M. H. Zaw, "Video Based Lane Departure Warning System", International Conference on Advances in Engineering and Technology, Singapore, March 29-30, 2014.
[3] A. Choudhary, Y. Moon and R. Nawkhare, "Design and Implementation of Wireless Security System in Vehicle", International Journal of Innovative Research in Computer and Communication Engineering, Vol. 3, Issue 7, July 2015.
[4] B. F. Wu, C. C. Kao, Y. F. Li M. Y. Tsai, "A Real-Time Embedded Blind Spot Safety Assistance System", International Journal of Vehicular Technology, Volume 2012, Article ID 506235, 2012.
[5] P. Shakouri, J. Czeczot and A. Ordys, "Adaptive Cruise Control System using Balance-Based Adaptive Control technique", 17th International Conference on Methods and Models in Automation and Robotics, MMAR, Miedzyzdroje, Poland, August 27-30, 2012.
[6] B. Reimer, B. Mehler and J. F. Coughlin, "An Evaluation of Driver Reactions to New Vehicle Parking. Assist Technologies Developed to Reduce Driver Stress", New England University Transportation Center, White Paper, November 2010.
[7] T. Komoguchi, T. Kawasaki, Y. Takahashi, "Rear cross traffic alert device", US 2014/0015693 A1, USA, 2014.
[8] S. Zeng, "Cross traffic collision alert system", US 2011/0133917, USA, 2011.
[9] J. Thomanek and G. Wanielik, "A new pixel-based fusion framework to enhance object detection in automotive applications", 17th International Conference on Information Fusion, FUSION, Salamanca, Spain, July 7-10, 2014.
[10] S. Zeng, J. A. Salinger, and P. V. Ganesan, "Method and apparatus for rear cross traffic collision avoidance", US 2008/0306666 A1, USA, 2008.
[11] R. Tan, "A safety concept for camera based ADAS based on multicore MCU", IEEE International Conference on Vehicular Electronics and Safety, ICVES, Hyderabad, India, December 16-18, 2014.
[12] E. Dagan, O. Mano, G. P. Stein and A. Shashua, "Forward collision warning with a single camera", IEEE Intelligent Vehicles Symposium, pp. 37-42, July 2004.
[13] J. Cui, F. Liu, Z. Li and Z. Jia, "Vehicle Localisation Using a Single Camera", IEEE Intelligent Vehicles Symposium, August, 2010.
[14] Y. Jheng, Y. Yen and T. Sun, "A symmetry-based forward vehicle detection and collision warning system on Android smartphone", IEEE International Conference on Consumer Electronics, Taiwan, ICCE-TW, Taipei, Taiwan, June 6-8, 2015.
[15] Y. Deng, H. Liang, Z. Wang and J. Huang, "An integrated forward collision warning system based on monocular vision", IEEE International Conference on Robotics and Biomimetics, ROBIO, Bali, Indonesia, December 5-10, 2014.
[16] E. Salari, and D. Ouyang, "Camera-based Forward Collision and lane departure warning systems using SVM", IEEE 56th International Midwest Symposium on Circuits and Systems, MWSCAS, pp. 1278-1281, 2013.
[17] C. A. Green, and U. H. Balbale, "Cross traffic alert system for a vehicle, and related alert display method", US 2010/0201508 A1, USA, 2010.
[18] V. Balisavira and V. K. Pandey, "Real-time Object Detection by Road Plane Segmentation Technique for ADAS", Eighth International Conference on Signal Image Technology and Internet Based Systems, SITIS, November 2012.
[19] A. A. Stocker and R. J. Douglas, "Analog integrated 2-D optical flow sensor with programmable pixels", Proceedings of the 2004 International Symposium on Circuits and Systems, ISCAS,Vancouver, Canada, May 23-26, 2004.
[20] G. Spampinato, A. Bruna, S. Curti and V. D’Alto, "Advanced Low Cost Clustering System", 6th International Conference on Image Processing Theory, Tools and Applications, IPTA, Oulu, Finland, December 12-15, 2016.
[21] N. Takeda and M. Watanabe, "Device and method for detection of moving obstacles", US 5777690 A, USA, 1998.
[22] M. Jähnisch, M. Siebeneicher, A. Fietz, A. Haja, D. Liebehenschel and C. Söhnel, "Method and apparatus for calibration of a camera system of a motor vehicle", DE102014209137 A1, Germany, 2015.
[23] S. Aslani and H. Mahdavi-Nasab, "Optical Flow Based Moving Object Detection and Tracking for Traffic Surveillance", World Academy of Science, Engineering and Technology International Journal of Electrical, Robotics, Electronics and Communications Engineering, Vol. 7, No 9, 2013.