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Front moving object detection for car collision avoidance applications

This paper proposed a technique to avoid collisions in the image sequences captured by stereo camera. It has to filter out the independently moving objects by performing ego-motion computation of the vehicle, so that the front moving objects and possible dangerous conditions may be detected using this collision avoidance system. The stereo computation generated the sparse disparity map of the object, and the feature tracker generated the optical flow. Then, it can obtain the three-dimensional position and three-dimensional motion of independently moving objects. After finding out the independently moving objects, it can estimate the positions and motion directions of objects in next frame. This chip is implemented using 90 nm CMOS process with power consumption 7.85mW@346 MHz. Moreover, the chip can process the 1080P resolution, and its gate count is 12.1k only.