Pitching angle measurement and obstacle detection on slope road from single sequential road image

Takamitsu Sakamoto, Kazuo Nakazawa

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


Recently, technology of safe driving assistance is receiving a lot of attention. And recognition of ambient of road by image processing has been actively investigated. However, many of researches limit road conditions, they cannot treat off-road including uncertainly like a slope. This paper proposes the system used for recognition of obstacles on slope road. The basic algorithm is the projection to virtual plane. Using the projective transformation, it changes the taken images into that being looked down from the upper side of the road and the system detects obstacles by calculating the difference value between frames of the transformed image. This paper shows the effectiveness of above-mentioned algorithm by using the real road scence. In the result, the influence of the texture was not suffered by the proposed method which divides a slope road image and processes the projected image, and the obstacle was detected.

Original languageEnglish
Pages (from-to)1863-1869
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number6
Publication statusPublished - 2006 Jun


  • ITS
  • Obstacle Detection
  • Projective Transformation
  • Road shape Prediction

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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