Abstract
Advanced Driving Assistance System (ADAS) is developed to avoid the increasing number of accidents. Collision Detection and Warning is one of the main features of ADAS. Different techniques are available for the collision detection such as using ultrasonic sensors, laser, radar, vision, etc. The main aim of this project to is to design a system which has the ability to detect the possibility of collision using cameras. Stereovision method is use to design a collision detection system. In this method, two cameras are used. First, camera calibration is done in which intrinsic and extrinsic parameters of the cameras are calculated and then cameras are mounted on the vehicle. These cameras are mounted at the same level from the reference plane. The cameras capture the same scenario which is in front of the car at the same time. Videos of the scene are stored and then converted into images for further processing. The images are slightly different from each other as two cameras are separated by some distance. One point P, normally centroid of the obstacle is detected and projected on the left image plane to calculate its 2D coordinates. Epipolar geometry is used to find the coordinates of the same point in the right image plane. Triangulation geometry is used to calculate the distance of an obstacle from the vehicle. Depending upon this distance, likelihood possibility of collision is determined and further precautionary measures can be taken. Different cases are considered to test the functionality of the design. ______