IMRA Europe S.A.S. is an R&D facility located in Sophia-Antipolis, France. It
is a branch of AISIN SEIKI, a major Japanese car supplier belonging to the
Toyota Group. At IMRA Europe, in the Perception and Intelligence department,
the Vision group is aimed at developing the next generation of Driver
Assistance System by means of Computer Vision techniques.

The Driver Assistance System developed at IMRA Europe provides to the driver a
3D representation of the scene surrounding his/her vehicle. The approach used
is based on the combination of several technologies such as odometry and
techniques from Computer Vision like tracking of points of interest and texture
mapping. The ABS-based odometry module provides the external calibration of an
onboard camera which takes snapshots along the vehicle trajectory. Points of
interest are tracked in the acquired images and are reconstructed in 3D. The 3D
points are next given to a ‘grouping’ module that builds structured obstacles
out of clouds of points. This system is well-adapted to the detection of static
obstacles surrounding the vehicle. It is completed by a movement detector able
to detect and localize moving obstacles such as pedestrians. This movement
detector is based on an ego-motion compensation technique combined with a
multicue confidence-based motion detector.