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Monocular Video serves RADAR-based Emergency Braking
Andreas Wedel and Uwe Franke
DaimlerChrysler AG
70546 Stuttgart
Email: {andreas.wedel, uwe.franke}@
Abstract— Much work was carried out recently for emer-
gency braking based on radar signals. The key step for
emergency braking is the reliable detection of obstacles. Moving
objects are verified as such by tracking the radar signal. How-
ever, discarding so-called phantom objects remains a challenge
for stationary objects. This leads to the question of sensor fusion
for more reliable verification of obstacles. In this paper we
propose a novel method using a monocular camera, such as
the night view camera in the Mercedes S class.
Our two goals in this paper are the verification of obstacles
and the detection of obstacle boundaries. This allows to analyze
the situation for carrying out emergency braking. The verifica-
tion of obstacles is done by analyzing the scaling of obstacles
as they get closer to the camera. The perspective image motion
of the ground plane serves as a counter hypothesis to detect
phantom objects. Obstacle boundaries are found by graph cut Fig. 1. Stationary obstacle in 12 m distance. The image was taken at ego-
segmentation on these two motion fields. vehicle speed of 33 km/h therefore remaining 1,3 seconds until collision.
The obstacle boundaries and size are successfully determined by monocular
camera without imposing shape knowledge in twilight con
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