Moving plane detection under translational camera motion using the c-velocity concept

This paper deals with obstacle detection from a moving camera using the new concept of c-velocity space. By analogy to the v-disparity space in stereovision based approaches, our method focuses on the extraction of 3D-planar structures like obstacles, road or buildings from a moving scene. The camera is assumed first to have a translational motion so that the dominant apparent motion generates a scale change along images. The c-velocity space is then defined as a cumulative frame in which planar surfaces are transformed into straight lines. Equations ruling the phenomenon are given and explained. Results on synthetic images are shown to meet the theory. Eventually results on real data are commented on as for the uncertainty introduced by the location of the FOE and other types of perturbations.