A novel heavy-duty truck reversing safety control based on pedestrian tracking using fisheye stereo vision
Miankuan Zhu, Zutao Zhang, Chaoxing Xi, Lei Wu, Fujian Liang, Lei Han · International Journal of Heavy Vehicle Systems · 2021
Heavy-duty trucks have caused many reversing accidents due to the large blind area of the body, so the safety of reversing assistance has attracted more and more attention. In this paper, we present a novel heavy-duty truck safety approach for reversing based on pedestrian detection and tracking using fisheye stereo vision. Firstly, an elliptical plate is proposed to calibrate a fisheye camera, and a disparity map is computed using the binocular fisheye camera. Secondly, a pedestrian is detected after the fisheye images are corrected. Thirdly, an improved pedestrian tracking algorithm based on consensus-based tracking and matching of key-points for object tracking (CMT) algorithm combined is applied to track pedestrians. Finally, a heavy-duty truck reversing speed control method is proposed to avoid collisions and improve the safety of truck reversing. This system has been tested on a van truck. Experiments demonstrate the viability of the proposed heavy-duty truck reversing safety system.