Real time method to detect the waving drive from a single camera

In this paper, we propose a method to detect the waving drive from a single camera in real-time. The requirement for the proposed method is computation time, accuracy and the dependency on the lane marker. The previous waving drive detection systems are based on the detection of the lane marker. Thus, the previous systems can't work on a road with no lane marker, like a snow road. The proposed method uses the planar region in front of the vehicle by converting it to a top-view image. The system is able to work on a road without a lane marker. To resolve the problem of the computation time, we apply the particle filter to speed up the proposed method. The proposed method is tested on both synthesized and real image to check the accuracy and computation speed. The experiment shows that the proposed method works on both roads with or without lane marker. Also, an online experiment is done to demonstrate that proposed method works in real-time.