A New Concept of Drive Recording System by Estimating Human Intention Using Particle Filters

A new concept of drive recording system based on estimation of human intention by particle filters has been proposed. It has an omni-directional camera at front ceiling in car cabin to record outside cars and inside driver simultaneously. Outside cars are detected with simple image processing and tracked by finite random set (FRS) state space approach, while driver's head direction is detected by eigen space method and tracked by elaborated particle filtering technique. Noticed cars noticed of the driver are determined by matching driver's head direction with the outside cars. The system estimates driver's prediction on the outside cars' motion based on the detection result of noticed cars. Hiyari-hatto incident will be detected when large discrepancy between the estimated prediction and the actual situation occurred. Then the system records image sequences around the incident time as well as other signals obtained from sensors of the car.