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A Blind-Zone Detection Method Using a Fisheye Camera with Combination of Vehicle Detection

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Figure

Fig.   1.   Visible zones, blind zones and field of view of a rear-mounted fisheye camera
Fig.  2.    (a)    Positively-classified  example    with respect  to  threshold  V       and         (b) negatively- classified example
Fig.   4.   View from fisheye camera  mounted at the rear of a BMW X5 with AdaBoost detection of an  approaching  vehicle  encapsulated  in  the  red bound- ing box
Fig. 6.  Detection of front and rear wheels at edge of the image using the Hough Circle Transform
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