Automatic Detection and Classification of Road, Car, and Pedestrian Using Binocular Cameras in Traffic Scenes with a Common Framework

Figure 11

Typical vehicle detection result on the road. (1) Original image (left). (2) Region of interest. (3) Vehicle source point. (4) Initial detection result. (5) Detection result.

(a)

(b)

(c)

(d)

(e)

(f)