Patent Publication Number: US-9892330-B2

Title: Night-time front vehicle detection and location measurement system using single multi-exposure camera and method therefor

Description:
TECHNICAL FIELD 
     The following description relates to a night-time forward vehicle detection and location measurement system using a single multi-exposure camera and method thereof which may be effectively applied on an active/intelligent headlight system. The following description also relates to a night-time forward vehicle detection and location measurement system using a single multi-exposure camera and method thereof to overcome a disadvantage of using a single exposure camera which was often used. 
     BACKGROUND 
     Currently, when driving at night time, most drivers manually operate high beam and low beam to secure driver&#39;s view. However, using high beam is limited since it is difficult to operate manually. 
     When high-speed driving at night, it is necessary to drive with the high beam on to adequately detect and respond to dangers ahead. However, when driving with the high beam on, it can cause glariness to the driver of the vehicle ahead (oncoming car and forward driving vehicle). 
     In order to overcome the afore-mentioned disadvantage, an intelligent headlight system which automatically operates two steps of high beam and low beam, is recently developed. It determines a vehicle ahead within the range of the headlight using a camera disposed on the vehicle wind shield. 
     Recently, a headlight using HID (High Intensity Discharge) and LED (Light Emitting Diode) has been developed thereby, the headlight can be operated with a beam which is segmented according to angles and not operated with the two steps of high beam and low beam. Thus, an active/intelligent headlight configured to direct the beam towards the vehicle ahead reaches just before the location of the vehicle should be developed. 
     SUMMARY OF INVENTION 
     Solution to Problem 
     The following description aims to overcome the problem of the afore-mentioned related art. The description provides a night-time forward vehicle detection and location measurement system using a single multi-exposure camera and method thereof which use long exposure and short exposure frame images among four exposure methods of a multi-exposure camera and applies binarization method which use local adaptive threshold value, and also applies BLOB (Binary Large Objects) matching method which detects an identical candidate BLOB from different exposure frame images thereby, enables further accurate detection and location measurement of a vehicle ahead during night-time drive. 
     Technical Solutions 
     A method for a night-time forward vehicle detection and location measurement system using a single multi-exposure camera includes a preprocessing, to select long exposure and short exposure frame images among auto exposure, long exposure, middle exposure and short exposure of a multi-exposure camera; a candidate BLOB extracting to label and extract a candidate region by using a local maximum based binarization method to minimize binarization by adding at least two BLOBs at the long exposure frame image and, extracting the candidate region through labeling and, using a local-mean based binarization to extract a headlight and taillight of long distance in the short exposure frame image to a candidate region; a BLOB matching and feature extracting to predict a BLOB location using a BLOB tracking based on a short exposure frame and detecting an identical candidate BLOB in a different exposure frame image by designating a BLOB of a location which is closest to a predicted location of the long exposure frame then, extracting a specific information regarding an identical candidate BLOB from a different exposure frame image; and a MC_SVM classifying to classify related BLOB to headlight, taillight, reflector and illuminant using MC_SVM (Multi-Class SVM) based on the features extracted from the long and short exposure frame; classifying and pairing to conduct pairing which detects a BLOB determined as an identical vehicle by comparing the BLOBs classified as a headlight and taillight in the MC_SVM classifying according to barycentric coordinates. 
     Effects of Invention 
     A night-time forward vehicle detection and location measurement system using a single multi-exposure camera and method thereof use a long exposure and short exposure frame images among four exposure methods of the multi-exposure camera and applied binarization which uses a local adaptive threshold value and applies a BLOB matching to detect an identical candidate BLOB in a different exposure frame thereby, various feature information can be extracted through a feature information extracting in respect to the identical candidate BLOB. Thus, there may be an effect of further accurate detection and location measurement of a vehicle ahead during night-time. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an exemplary block diagram illustrating a system for a location measurement and night-time forward vehicle detection using a single multi-exposure camera according to an embodiment. 
         FIG. 2  is a flow chart illustrating a system for a location measurement and night-time forward vehicle detection using a single multi-exposure camera according to an embodiment. 
         FIG. 3  is a flow chart illustrating a preprocessing according to an embodiment. 
         FIG. 4  is a flow chart illustrating a candidate BLOB extracting according to an embodiment. 
         FIG. 5  is a flow chart further illustrating a local maximum based binarization and labeling of a candidate BLOB extracting according to an embodiment. 
         FIG. 6  is a flow chart further illustrating a local-mean based binarization and labeling of a candidate BLOB extracting according to an embodiment. 
         FIG. 7  is a flow chart illustrating a BLOB matching and feature extracting according to an embodiment. 
         FIG. 8  is a flow chart illustrating a classifying and pairing according to an embodiment. 
     
    
    
     METHOD FOR CARRYING OUT THE INVENTION 
     The following detailed description is provided to assist the reader in gaining a comprehensive understanding of the methods, apparatuses, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatuses, and/or systems described herein will be apparent to one of ordinary skill in the art. The sequences of operations described herein are merely examples, and are not limited to those set forth herein, but may be changed as will be apparent to one of ordinary skill in the art, with the exception of operations necessarily occurring in a certain order. Also, descriptions of functions and constructions that are well known to one of ordinary skill in the art may be omitted for increased clarity and conciseness. 
     The examples are described more fully subsequently with reference to the accompanying drawings, in which certain embodiments are shown. 
     First, when using an auto exposure camera, a brightness of a headlight and taillight of a vehicle in object for detection is not consistent due to luminous environment and sometimes misrecognizes various reflectors and illuminants in the surrounding of the vehicle in object for detection. 
     Further, when using a long single exposure camera, a brightness value of most headlights and taillights appeared in an image is saturated and, a phenomenon of blurring and two BLOBs adding occurs. Thus, accurate detection is difficult and misrecognition occurs due to various noise light when a BLOB is moving. 
     Further, when using a short single exposure camera, it is difficult to detect a headlight and taillight from a long distance with a small BLOB and the brightness value and various feature information of the BLOB are difficult to extract. Thus, it is difficult to expect high functional detection. 
     A problem of the aforementioned-like single exposure camera was solved by using a multi-exposure camera according to an embodiment. 
     That is, a multi-exposure camera which may overcome a disadvantage of a method for using a single exposure camera is used. Further, a common color camera which supports four types of exposures, i.e., auto exposure, long exposure, middle exposure and short exposure are used and the long exposure and short exposure are used herein. For example, a frame having a relatively large exposure is used as a long exposure frame and a frame having a relatively small exposure is used as a short exposure frame. 
     The advantage and disadvantage of the aforementioned images are shown in the following Table 1. 
     
       
         
           
               
               
               
             
               
                 TABLE 1 
               
               
                   
               
               
                 Image 
                 Advantage 
                 Disadvantage 
               
               
                   
               
             
            
               
                 Long 
                 Possible of long 
                 Blurring phenomena of a moving BLOB 
               
               
                 exposure 
                 distance 
                 At least two BLOBs are added, and a 
               
               
                 frame 
                 BLOB detection 
                 brightness value of most head lamps/ 
               
               
                   
                 Possible extraction 
                 taillights is saturated and, various noise 
               
               
                   
                 of various 
                 lights such as a reflector occur. 
               
               
                   
                 features of BLOB 
               
               
                 Short 
                 Possible of 
                 Difficult to detect long distance BLOB 
               
               
                 exposure 
                 accurate 
                 Difficult to differentiate the light of a 
               
               
                 frame 
                 location 
                 head lamp and taillight from the noise 
               
               
                   
                 measurement of 
                 light due to lack of various feature 
               
               
                   
                 a BLOB 
                 information of a BLOB 
               
               
                   
               
            
           
         
       
     
     Further, a binarization which is adequate for respective images is applied according to an embodiment. 
     The binarization which uses a global constant threshold value has the following problem. 
     The binarization in general, binarizes an image through applying a predetermined constant threshold value on a whole image and thereby, detects a candidate region of the headlight and taillight of the vehicle. 
     When the global constant threshold value is applied on the long exposure frame, various noise lights such as the reflector may be extracted to the candidate region and at least two BLOBs are added and extracted to the candidate region. Further, when the global constant threshold value is applied on the short exposure frame, the BLOB size of the headlight and taillight in a long distance is small and the brightness thereof is also not large thereby, they may not be detected as the candidate region. Thus, detection may be degraded. 
     The binarization which uses local adaptive threshold value is applied according to an embodiment to overcome the aforementioned problem. 
     Further, a local maximum based binarization is used to minimize binarization which at least two BLOBs are added in the long exposure frame, and the BLOB is labeled and then extracted to the candidate region. 
     Further, in a short exposure frame image, a local-mean based binarization is used to extract the headlight and taillight in long distance to the candidate region from a short exposure frame image and the BLOB is labeled then extracted to the candidate region. 
     Meanwhile, there is a time delay (in case of a camera with 60 frames per second which supports four types of exposures, the time delay which occurs between the long exposure and short exposure frames is 16.6 to 49.9 msec in maximum), in the long exposure frame and short exposure frame which is output from the multi-exposure camera. Accordingly, although it may differ according to a speed in respect to the object, a location in a long exposure frame and a short exposure frame moves even it is an identical object. Thus, even it is a headlight or a taillight of an identical vehicle, the candidate BLOB which is extracted from the long exposure frame and the candidate BLOB which is extracted from a short exposure frame can be considered as a separate object. 
     Accordingly, the BLOB matching and feature extracting are conducted to overcome the aforementioned problem according to an embodiment. 
     That is, various feature information can be extracted since the feature information extracting of the identical candidate BLOB from different exposure frame image can be applied through the BLOB matching which detects the identical candidate BLOB from the different exposure frame image, i.e., a method of predicting a location of a BLOB using the short exposure frame based BLOB tracking and considering the BLOB which is closed to the predicted location of a long exposure frame, as an identical BLOB. 
     Method for Carrying Out the Invention 
     Hereinafter, an embodiment is illustrated referring to the drawings attached herewith. 
       FIG. 1  is a block diagram illustrating a night-time forward vehicle detection and location measuring system using a single multi-exposure camera. 
     The following description includes a multi-exposure camera  100  configured to support auto exposure, long exposure, middle exposure and short exposure; a preprocessing means  200  configured to select a long exposure and short exposure frame image among the auto exposure, long exposure, middle exposure and short exposure of the multi-exposure camera  100 ; a candidate BLOB extracting means  300  configured to extract the candidate region by using and labeling a local maximum based binarization to minimize binarization phenomena which occurs as at least two BLOBs are added in the long exposure image and extracts the candidate region by using and labeling the local-mean based binarization to extract a headlight and taillight in a long distance from the short exposure frame image to the candidate region; a BLOB matching and feature extracting means  400  configured to extract feature information regarding an identical candidate BLOB from a different exposure frame image after detecting the identical candidate BLOB from a different exposure frame by considering the BLOB which is the closest to the predicted location of the long exposure frame as an identical BLOB after predicting the location of the BLOB using a short exposure frame based BLOB tracking; and, a classifying and pairing means  500  including a MC_SVM classifying to classify related BLOBs to the headlight, taillight, reflector and illuminant using MC_SVM (Multi-Class SVM) based on the features extracted from the long and short exposure frames; classifying and pairing to conduct pairing which detects a BLOB determined as an identical vehicle by comparing the BLOBs classified as the headlight and taillight in the MC_SVM classifying according to barycentric coordinates. 
       FIG. 2  is a flow chart illustrating a night-time forward vehicle detection and location measuring method using a single multi-exposure camera according to an embodiment. 
     As illustrated, the following description includes a preprocessing S 102 -S 103  converting respective images to a gray image through selecting long exposure and short exposure frame images among auto exposure, long exposure, middle exposure and short exposure of the multi-exposure camera  100 ; 
     a candidate BLOB extracting S 104  conducting labeling and extracting to a candidate region by using a local maximum based binarization method to minimize binarization by adding at least two BLOBs at the long exposure frame image and, extracting a candidate region through labeling and, using a local-mean based binarization to extract a headlight and taillight of long distance in the short exposure frame image to a candidate region;
 
a BLOB matching and feature extracting S 105 -S 107  predicting a BLOB location using a BLOB tracking based on a short exposure frame and detecting an identical candidate BLOB in a different exposure frame image by designating a BLOB of a location which is closest to a predicted location of the long exposure frame then, extracting a specific information regarding an identical candidate BLOB from a different exposure frame image; and,
 
a classifying and pairing S 108 -S 109  which conducts a MC_SVM classifying which conducts classifying related BLOBs to a headlight, a taillight, a reflector and an illuminant using MC_SVM (Multi-Class SVM) based on the features extracted from the long and short exposure frame; and pairing which detects a BLOB determined as an identical vehicle by comparing the BLOBs classified as a headlight and taillight in the MC_SVM classifying according to barycentric coordinates.
 
     An embodiment of the following description is applied as illustrated hereinafter. 
     First, as illustrated in  FIG. 2  and  FIG. 3 , the preprocessing comprises a de-multiplexer S 102  and a color to grey converting S 103 . 
     During de-multiplexer S 102 , a camera output according to a multi (four kinds)-exposure camera may have different exposure outputs according to frames and generally auto exposure, long exposure, middle exposure and short exposure frames are repetitively and sequentially generated. 
     During de-multiplexer, long exposure frame and short exposure frame are selected among multi (four types)-exposure frames. Further, it is output through rearranging with the long exposure frame and short exposure frame to apply an adequate signal processing method according to the exposure feature. 
     A frame having a relatively large exposure among four types of the camera output unit exposure can be used with a long exposure frame and a frame having a relatively short exposure thereamong can be used with a short exposure when selecting a long exposure frame and a short exposure frame. 
     During color to grey converting S 103 , the color image of the long exposure frame and short exposure frame is converted to a gray image to detect a candidate region such as a headlight and taillight when using the color camera. 
     Further, when the color image is a RGB color image, the color image is converted with a linear combination of R, G, B and when the color image is a YBbCr color, a Y signal is used as a gray image. 
     Herein, an original color image may be stored in a separate memory to use as a feature value of a candidate region. 
     Further, as illustrated in  FIG. 4 , a candidate BLOB extracting S 104  includes a local maximum based binarization and labeling S 210  and a local-mean based binarization and labeling S 220 . 
     First, the local maximum based binarization and labeling S 210  minimizes binarization. That is, it minimizes the phenomena of at least two BLOBs are added by applying to the long exposure frame image. 
     That is, as illustrated in  FIG. 5 , first binarize S 211  the whole image using a predetermined fixed threshold value (Th_ 1 ) then, conduct labeling S 212  and detect a maximum brightness value (p_max) for respective labels S 213  and, produce a new threshold value (Th_ 2 ) according to the maximum brightness value then binarize the related label region using the equation, Th_ 2 =a×p_max (but, 0.5&lt;a&lt;1) and after binarizing S 214  the related label region, outputs S 215  information of respective BLOBs which is labeled. Herein, when calculating the local maximum based threshold value, variable ‘a’ can be experimentally determined within the range of 0.5&lt;a&lt;1 and, it is preferably determined as about 0.9. 
     Next, the local-mean based binarization and labeling S 220  is a combination of a local-mean brightness value reference binarization and a reference global binarization. That is, the near headlight and taillight are binarized using a predetermined fixed threshold (Th_ 3 ) and a headlight and taillight which is far and having a relatively small brightness value binarizes using a local-mean brightness. 
     That is, as illustrated in  FIG. 6 , first slide a relatively small size two dimensional window and compare a pixel value p(x,y) of a center point with a predetermined fixed threshold value Th_ 3  S 221 . Then, when it is p(x,y)&gt;Th_ 3 , set as B(x,y)=1 and move to S 230 , S 222 . If it is not p(x,y)&gt;Th_ 3 , move to S 223  in the following. 
     In S 223 , compare p(x,y) with a predetermined fixed threshold value Th_ 4  S 223 . When it is p(x,y)&lt;Th_ 4 , set to B(x,y)=0 and move to S 230 , S 224 . If it is not p(x,y)&lt;Th_ 4 , move to S 225  in the following. 
     In S 225 -S 226 , calculate pixel average value m(x,y) in the window and calculate the Th_5 value with the average value as shown in the equation 1 below.
 
Th_5= m ( x,y )+ b (but,  b&gt; 0)  Equation 1
 
     Next, in S 227 , compare p(x,y) with Th_ 5  and when it is p(x,y)&gt;Th_ 5 , set to B(x,y)=1 S 228 . If it is not p(x,y)&gt;Th_ 5 , set to B(x,y)=0 S 229  and then move to S 230 . 
     In S 230 , start again from S 221 , after window sliding to the next pixel. Repeat this process to a last pixel in a frame. Then, conduct labeling in S 231 . Herein, use an integral image to calculate a real-time average value in the window. 
     A BLOB matching and feature extracting S 105 -S 107  including a tracking, a matching, a feature extracting are illustrated hereinafter. 
     As illustrated in  FIG. 7 , the BLOB matching and feature extracting S 105 -S 107  include, in particular, a BLOB matching S 310  between short exposure frames; a motion vector extracting S 311 ; a reflector removing S 312 ; a tracking and location prediction S 313 ; the BLOB matching between a short exposure frame and long exposure frame; and feature extracting S 315 . 
     The BLOB matching S 310  of short exposure frame detects which BLOB of a prior frame is identical with a random BLOB of a current frame among candidate BLOBs extracted from the short exposure frame and matching the BLOB with a minimum moving distance as an identical BLOB. 
     kth BLOB is b(t−1,k) among K number of BLOB of prior frames (herein, k=1, 2, . . . , K). A random 1 st  BLOB among L number of BLOB of a current frame is b(t,l) (herein, 1=1, 2, . . . , L). A barycentric coordinates of the 1 st  BLOB b(t,l) of the current frame is (x_c(t,l), y_c(t,l)) and a barycentric coordinate of the k th  BLOB b(t−1,k) of a prior frame is (x_c(t−1,k), y_c(t−1,k)). Thus, the BLOB b(t,l) of the current frame can be matched with the BLOB of the prior frame with a shortest moving distance as an identical BLOB. 
     
       
         
           
             
               
                 
                   
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                   Equation 
                   ⁢ 
                   
                       
                   
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                   2 
                 
               
             
           
         
       
     
     According to equation 2, l* refers to a closest l* th  BLOB value. Herein, the barycentric coordinates of respective BLOBs use a calculate value with actually calculated distance. 
     Further, it is preferable not to designate as an identical BLOB if the calculated distance is over the experimentally calculated predetermined distance. 
     Further, a motion vector extracting S 311  calculates a motion vector (m)(t,l) in respect to a BLOB(b)(t,l) of a current frame using a BLOB matching result generated from the short exposure frame according to the following equation 3.
 
 m ( t,l )=(( x _ c ( t,l )− x _ c ( t− 1, l *)),( y _ c ( t,l )− y _ c ( t− 1, l *))) t   Equation 3
 
     Herein, the barycentric coordinates of respective BLOBs use the value which is applied with actually calculated distance thereby calculates the actual moving vector. 
     Further, a reflector removing S 312  excludes a BLOB having a motion vector which differs from a motion vector of a headlight or taillight of a normal vehicle from a candidate BLOB object using a motion vector value produced from a short exposure frame. 
     Next, a tracking and location predicting tracks a location of respective BLOBs produced during the BLOB matching of the short exposure frame using Kalman Filter. The measurement value herein is determined with a transverse, vertical direction distance of a barycentric coordinates of a related BLOB and an estimated value is determined with a transverse, vertical direction distance, speed, and acceleration of a barycentric coordinates of a BLOB. 
     The identical BLOB location can be predicted in the long exposure frame using the BLOB tracking result of the short exposure frame. Herein, the location of respective BLOBs are predicted considering the delay time between the current frame of the short exposure image and the frame of the long exposure image. 
     Next, a BLOB matching S 314  between the short exposure frame and long exposure frame determines a BLOB of a closest location as an identical BLOB using information of a predicted location of respective BLOBs of a long exposure frame produced from a BLOB tracking of a short exposure frame and a location information of a candidate BLOB of a long exposure frame produced from a local-mean based binarization and labeling. 
     Herein, there is time delay in the long exposure frame and the short exposure frame. For example, the location of an identical BLOB may move according to speed difference of over 16.6 msec to 49.9 msec in maximum hence, a separate compensate algorithm is required. 
     Next, feature extracting S 315  extracts features regarding the identical BLOB calculated from the short exposure frame and long exposure frame. 
     BLOB features such as color, morphological, geometrical information, i.e., size, barycentric coordinates, aspect ratio of a bounding box, 2-D Hu&#39;s moment, and statistical information, i.e., average brightness of the BLOB and standard deviation of the brightness, motion vector are extracted from the short exposure frame. 
     Further, BLOB features such as color, morphological, geometrical information, i.e., size, barycentric coordinates, aspect ratio of a bounding box, 2-D Hu&#39;s moment, and statistical information, i.e., average brightness of the BLOB and standard deviation of the brightness, motion vector are extracted from the long exposure frame. 
     Finally, a classifying and pairing S 108 -S 109  is conducted as illustrated in  FIG. 8 . 
     First, a MC_SVM classifying S 411  classifies related BLOBs to a headlight, taillight, reflector and illuminant using MC_SVM (Multi-Class SVM) based on the features extracted from the long and short exposure frame. 
     Next, pairing S 412  is conducted which detects a BLOB determined as an identical vehicle through comparing the BLOBs classified as a headlight and taillight according to similarity thereof such as barycentric coordinates, size and shape in the MC_SVM classifying S 411 . Herein, the similarity of the BLOBs is measured through comparing the BLOBs according to the shape of the headlight and taillight. 
     Accordingly, the aspect ratio of the bounding box, the ratio of a normal vehicle light is calculated by the following equation 4, after a pair of BLOBs which is determined as an identical vehicle is given in a bounding box. 
     Equation 4 
     
       
         
           
             
               
                 
                   
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                       boundingbox 
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                       ⁢ 
                       Width 
                     
                     
                       boundingbox 
                       ⁢ 
                       
                           
                       
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                       Height 
                     
                   
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                   ⁢ 
                   
                       
                   
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                   4 
                 
               
             
           
         
       
     
     When the condition of Equation 4 is satisfied, it is determined as an identical vehicle and if not, it is determined as a different vehicle. 
     Herein, T_ 1 , T_ 2  can be calculated experimentally. Further, it can be determined as a motorbike and not a normal vehicle when it is determined as a BLOB which is not added as a pair thereof. 
     While this disclosure includes specific examples, it will be apparent to one of ordinary skill in the art that various changes in form and details may be made in these examples without departing from the spirit and scope of the claims and their equivalents. The examples described herein are to be considered in a descriptive sense only, and not for purposes of limitation. Descriptions of features or aspects in each example are to be considered as being applicable to similar features or aspects in other examples. Suitable results may be achieved if the described techniques are performed in a different order, and/or if components in a described system, architecture, device, or circuit are combined in a different manner, and/or replaced or supplemented by other components or their equivalents. Therefore, the scope of the disclosure is defined not by the detailed description, but by the claims and their equivalents, and all variations within the scope of the claims and their equivalents are to be construed as being included in the disclosure. 
     INDUSTRIAL APPLICABILITY 
     According to a night-time forward vehicle detection using a single multi-exposure camera and method thereof which use long exposure and short exposure frame images among four exposure methods of a multi-exposure camera and applies a binarization method which use a local adaptive threshold value, and also applies a BLOB (Binary Large Objects) matching method which detects an identical candidate BLOB from a different exposure frame image thereby, enables further accurate detection and location measurement of a forward vehicle during night-time drive.