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Extraction of the front vehicle using projected disparity map

To prevent rear-end collisions, it is necessary to measure the distance between a vehicle and the vehicle in front of it. In this paper we described a new technique for measuring this distance using stereoscopic images. A vehicle is represented by object points that are same distance from the stereo cameras. So, a disparity map calculated from the stereo images is projected in the ordinate direction. We call this map a 'Projected Disparity Map.' In the projected disparity map the disparities of the vehicle are translated into a straight line. So we can detect the front vehicle by extracting that straight line. To verify this method we applied it to stereoscopic images taken on an expressway. The experiments demonstrated the effectiveness of the methods.