Moving object analysis with optical flow using multi-resolution images and its application in traffic environment

In this paper we estimate optical flow by using spatiotemporal differentiation scheme based on compensation method. Conventional spatiotemporal differentiation scheme enables us to calculate velocity distribution rapidly, but error in the approximation of derivative coefficients increases as the displacement of the moving pattern between the successive frames becomes large. To expand the range of measurable velocity of spatiotemporal differentiation sheme, we introduced the compensation method. In this research, we have realized how to determine the compensation velocity using multiple resolution images. We applied this method to images captured by an in-vehicle camera in order to calculate velocity distribution in situation where objects of various velocities exist and to locate traffic obstacles.