Title :
Ground plane obstacle detection from optical flow anomalies: a robust and efficient implementation
Author :
Ilic, M. ; Masciangelo, S. ; Pianigiani, E.
Author_Institution :
TELEROBOT, Genova, Italy
Abstract :
This paper presents a monocular ground plane obstacle detection method using optical flow anomalies. The optical flow is computed on a single image row and compared to a model for ground point optical flow obtained by a direct calibration. Reflections and optical flow ambiguities are detected.
Keywords :
computerised navigation; image sequences; mobile robots; navigation; direct calibration; ground point optical flow; monocular ground plane obstacle detection; optical flow ambiguities; optical flow anomalies; reflections; Cameras; Image motion analysis; Object detection; Optical computing; Optical detectors; Optical sensors; Robot vision systems; Robustness; Stimulated emission; Vehicles;
Conference_Titel :
Intelligent Vehicles '94 Symposium, Proceedings of the
Print_ISBN :
0-7803-2135-9
DOI :
10.1109/IVS.1994.639539
