Obstacle detection by direct estimation of multiple motion and scene structure from a moving stereo rig
UNSPECIFIED (2003) Obstacle detection by direct estimation of multiple motion and scene structure from a moving stereo rig. In: IEEE International Conference on Systems, Man and Cybernetics (SMC 03), WASHINGTON, D.C., OCT 05-08, 2003. Published in: 2003 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOLS 1-5, CONFERENCE PROCEEDINGS pp. 2326-2331.Full text not available from this repository.
In the context of real-time collision / obstacle avoidance this paper investigates a direct method of estimating dense scene structure and image motion. Our proposed method combines both stereo vision (involving geometric constraints) and optical flow (involving photometric constraints). It is applied to multiple motion images (i.e., images with vehicle ego-motion plus obstacle motion). Modifications to the direct method were introduced to improve the reliability of the motion estimation. The multiple-motion-estimation scheme comprises local motion estimations followed by a classification of these estimates in a simplified motion parameter space through cluster analysis. The classification enables segmentation of the different motions that are used to estimate more accurately the dense structure and motion of objects in a scene. Experimental results on both synthetic and real image sequences demonstrate the potential of the method.
|Item Type:||Conference Item (UNSPECIFIED)|
|Subjects:||Q Science > QA Mathematics > QA76 Electronic computers. Computer science. Computer software|
|Series Name:||IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, CONFERENCE PROCEEDINGS|
|Journal or Publication Title:||2003 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN AND CYBERNETICS, VOLS 1-5, CONFERENCE PROCEEDINGS|
|Number of Pages:||6|
|Page Range:||pp. 2326-2331|
|Title of Event:||IEEE International Conference on Systems, Man and Cybernetics (SMC 03)|
|Location of Event:||WASHINGTON, D.C.|
|Date(s) of Event:||OCT 05-08, 2003|
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