Stereo-based Height Restriction Bar Estimation

Stereo-based Height Restriction Bar Estimation | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Stereo-based Height Restriction Bar Estimation Baojun Li, Zeyang Liu, Xiaochao Wang, Weiming Wang This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4818785/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 13 May, 2025 Read the published version in Signal, Image and Video Processing → Version 1 posted 6 You are reading this latest preprint version Abstract Height restriction bars (HRBs) are diverse in appearance and widely distributed on roads, which can effectively protect bridges and other structures from damage. On the other hand, these HRBs also bring safety issues and economic losses. Therefore, it is of great practical significance to detect and warn HRBs in advance. The highway scene environment is extremely complex, the shapes of HRBs are usually non-standard, and the vehicle driving tracks are diverse, which bring great difficulties and challenges to the detection of HRBs. Existing methods for HRBs measurement and warning have several limitations, such as the high equipment costs and insufficient accuracy for real-time requirements. To overcome these limitations, this paper proposes a novel and automatic measuring algorithm for HRBs based on binocular camera. In this algorithm, HRBs are detected by YOLOX and the disparity data is filtered using a multi-step and multi-scale method. Based on the detected HRB, a robust algorithm is proposed to measure the distance and height, which can effectively prevent the accidents caused by HRB. In the proposed algorithm the Kalman filtering and RANSAC are used to improve the measurement accuracy. A new HRB dataset named HRB23 is constructed. The effectiveness and performance of the proposed algorithms are demonstrated on a set of real-life and virtual HRB scenarios. Height restriction bar Over-height vehicle strike Object detection Height estimation Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 13 May, 2025 Read the published version in Signal, Image and Video Processing → Version 1 posted Editorial decision: Revision requested 09 Sep, 2024 Reviewers agreed at journal 11 Aug, 2024 Reviewers invited by journal 06 Aug, 2024 Editor assigned by journal 03 Aug, 2024 Submission checks completed at journal 03 Aug, 2024 First submitted to journal 28 Jul, 2024 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-4818785","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":343707173,"identity":"90e28b7f-1bae-4d93-a3c9-408eb340054c","order_by":0,"name":"Baojun Li","email":"","orcid":"","institution":"Dalian University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Baojun","middleName":"","lastName":"Li","suffix":""},{"id":343707175,"identity":"bd6578aa-99d6-4a05-a7a8-2dc736bcbdc7","order_by":1,"name":"Zeyang Liu","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAABFElEQVRIie2RMUsDMRSAXwjkHHLN+kppf0PKgRT0x9zh4FTUpdykneJSdD0Q9C8UDjpHbm07KzicOLrceIvguwja4a46OuSDF3h5+XgvCYDH8w/pUdhY40gEc4D4HNiN2xfdCpVYWaWTqCctKRqYAf6rwsfZOk3uMab0T4paHw5Cg8z035Oq1DA0eGahmhWg7uYdXb4ULgbTHGmwyOAJsGxbAL7YdoUtnCJIWTZK0ig8NAVoN2qLwqVTpOhv8vpb+dinCBnR9REFhqufLmyfIsUFPTJqIaerCX1QZOSbflxsTyU+tStKFUv6ysurh+tN/lynx8PbIHkt69nRSGXtCsCB3s3QrZZCdpwngrK75vF4PJ6GT61PUlIfVHWiAAAAAElFTkSuQmCC","orcid":"","institution":"Dalian University of Technology","correspondingAuthor":true,"prefix":"","firstName":"Zeyang","middleName":"","lastName":"Liu","suffix":""},{"id":343707177,"identity":"7ba65567-1418-408a-b33a-bf03b2afa5b2","order_by":2,"name":"Xiaochao Wang","email":"","orcid":"","institution":"Tiangong University","correspondingAuthor":false,"prefix":"","firstName":"Xiaochao","middleName":"","lastName":"Wang","suffix":""},{"id":343707178,"identity":"dd65c2ee-25f5-4f9f-8926-18ae56adf82e","order_by":3,"name":"Weiming Wang","email":"","orcid":"","institution":"Nanjing University of Science and Technology","correspondingAuthor":false,"prefix":"","firstName":"Weiming","middleName":"","lastName":"Wang","suffix":""}],"badges":[],"createdAt":"2024-07-29 03:26:59","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-4818785/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-4818785/v1","draftVersion":[],"editorialEvents":[{"content":"https://doi.org/10.1007/s11760-025-04148-x","type":"published","date":"2025-05-13T15:58:04+00:00"}],"editorialNote":"","failedWorkflow":false,"files":[{"id":83067910,"identity":"057423d3-05e5-43e4-ac54-24eaf1fc3b0a","added_by":"auto","created_at":"2025-05-19 16:07:57","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":8887875,"visible":true,"origin":"","legend":"","description":"","filename":"StereobasedHeightRestrictionBarEstimationSpringer.pdf","url":"https://assets-eu.researchsquare.com/files/rs-4818785/v1_covered_18a6a56a-0831-4afa-b189-c57928783e97.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Stereo-based Height Restriction Bar Estimation","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":false,"highlight":"","institution":"","isAcceptedByJournal":true,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"signal-image-and-video-processing","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":false,"externalIdentity":"sivp","sideBox":"Learn more about [Signal, Image and Video Processing](http://link.springer.com/journal/11760)","snPcode":"11760","submissionUrl":"https://submission.nature.com/new-submission/11760/3","title":"Signal, Image and Video Processing","twitterHandle":"","acdcEnabled":true,"dfaEnabled":true,"editorialSystem":"em","reportingPortfolio":"Springer Hybrid","inReviewEnabled":true,"inReviewRevisionsEnabled":false},"keywords":"Height restriction bar, Over-height vehicle strike, Object detection, Height estimation","lastPublishedDoi":"10.21203/rs.3.rs-4818785/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-4818785/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"Height restriction bars (HRBs) are diverse in appearance and widely distributed on roads, which can effectively protect bridges and other structures from damage. 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