Implementation of a vehicle detection system, using a single camera, mounted in the front of the vehicle. The vehicles are located by spotting the rear red lights.

First row: Original image and positive values of a* subchannel of Lab color scheme, Second row: FRST pseudocolored and FRST adjusted to 0-255 range, Last row: Otsu’s Threshold

Example of the two-pass algorithm. Original image on the left.

Calculating the ellipses of the red circular objects on images, with 4 different confidence levels: Yellow: standard(no scalling), white: 90%, green: 95% and blue: 99%. The 90%(white) was used on the system.