In order to solve the problems of traffic object detection, fuzzification, and simplification in real traffic environment, an automatic detection and classification algorithm for roads, vehicles, and pedestrians with multiple traffic objects under the same framework is proposed. We construct the final V view through a considerate U-V view method, which determines the location of the horizon and the initial contour of the road. Road detection results are obtained through error label reclassification, omitting point reassignment, and so an. We propose a peripheral envelope algorithm to determine sources of vehicles and pedestrians on the road. The initial segmentation results are determined by the regional growth of the source point through the minimum neighbor similarity algorithm. Vehicle detection results on the road are confirmed by combining disparity and color energy minimum algorithms with the object window aspect ratio threshold method. A method of multifeature fusion is presented to obtain the pedestrian target area, and the pedestrian detection results on the road are accurately segmented by combining the disparity neighbor similarity and the minimum energy algorithm. The algorithm is tested in three datasets of Enpeda, KITTI, and Daimler; then, the corresponding results prove the efficiency and accuracy of the proposed approach. Meanwhile, the real-time analysis of the algorithm is performed, and the average time efficiency is 13 pfs, which can realize the real-time performance of the detection process.
Real-Time Attitude Control Algorithm for Fast Tumbling Objects under Torque Constraint-Conservative State Vector Formulations for Rigid Body Dynamics-