Shared Images in A Connected-Vehicle Network Registration System Using Harris-Stephens Approach
Ghaith Al-Refai, Mohammed Al-Refai, Shadi Banitaan, Zeinab Ghasemi · 2020
Connected vehicles technology allows to share information between road elements, like vehicles, pedestrians and infrastructure. The main goal of the connected vehicles technology is to improve road safety and achieve autonomous driving. Many kinds of information can be shared over connected vehicles, like navigation information, road conditions and weather conditions. Videos and images are also important information to be shared over the connected vehicles network due to the rich information they carry to achieve autonomous driving, especially when they are processed by machine learning algorithms to detect and classify road objects. One of the issues in dealing with the images shared over connected vehicles is the image registration. Because the cameras used in vehicles have different specifications, like resolution, field of view and alignment. To analyze these images by computer vision algorithms, images have to be registered and aligned together. This paper proposes a solution to register the shared images that are collected by front vehicle cameras. Harris-Stephens approach for corner detection is used for feature extraction. The nearest neighbor distance ratio does the feature matching between the target image and the reference image. The algorithm calculates transformation parameters and applies them on target images to register them to a reference image. The paper evaluates the proposed system results using vehicle front camera collected dataset.