Rear obstacle detection system with fisheye stereo camera using HCT

Deukhyeon Kim, Jinwook Choi, Hunjae Yoo, Ukil Yang, Kwanghoon Sohn

Research output: Contribution to journalArticlepeer-review

29 Citations (Scopus)


A vision based rear obstacle detection system is one of the most essential technologies, which can be used in many applications such as a parking assistance systems and intelligent vehicles. Stereo matching based obstacle detection methods have two inherent limitations, including sensitivity to illumination variation and high computational complexity. To overcome these problems, we present a hierarchical census transform (HCT)-based stereo matching method, and proposes a real-time rear obstacle detection system using fisheye stereo cameras. It includes two major components: firstly, we use a hierarchical approach to improve computational efficiency and reduce dependency on a matching window size. Computation time can also be accelerated with compute unified device architecture (CUDA) implementation because we designed the proposed method for parallel processing. Secondly, our method provides more accurate depth information, especially for moving objects, through cost aggregation using color and motion information. Experimental results show satisfactory performance under various real parking environments. The performance of the proposed method is superior to those of the conventional methods in terms of runtime and accuracy of depth estimation. Moreover, correct detection rate of the proposed system is 12.51% better than those of other systems, while its false and miss detection rates are 11.09% and 12.51% lower than those of other detection systems.

Original languageEnglish
Pages (from-to)6295-6305
Number of pages11
JournalExpert Systems with Applications
Issue number17-18
Publication statusPublished - 2015 May 16

Bibliographical note

Funding Information:
This research was supported by the MSIP (Ministry of Science, ICT and Future Planning), Korea, under the ITRC (Information Technology Research Center) support program (IITP-2015-H8501-15-1001) supervised by the IITP(Institute for Information & communications Technology Promotion).

Publisher Copyright:
© 2015 Elsevier Ltd. All rights reserved.

All Science Journal Classification (ASJC) codes

  • Engineering(all)
  • Computer Science Applications
  • Artificial Intelligence


Dive into the research topics of 'Rear obstacle detection system with fisheye stereo camera using HCT'. Together they form a unique fingerprint.

Cite this