Title :
Moving Obstacles Extraction with Stereo Global Motion Model
Author :
Hu, Zhencheng ; Wang, Jia ; Uchimura, Keiichi
Author_Institution :
Graduate Sch. of Sci. & Technol., Kumamoto Univ.
Abstract :
Extraction of moving obstacles from a moving observer is vital for many ITS applications like forward vehicle collision mitigation (FYCM) and adaptive cruise control (ACC) systems. Single camera based global motion model (GMM) like optical flow is commonly used in the past decade. This paper addresses a relatively new problem in the literature: GMM based on binocular stereovision which involves the depth (disparity) information in the model, thus global motion can be analyzed in 3D space rather than the traditional 2D image plane. An efficient algorithm is presented which parameterizes the GMM based on the 3D camera motion analysis within U-V-disparity domain. Combining the geometric and motion information, regions that do not match the GMM will be extracted as moving obstacles
Keywords :
computer vision; feature extraction; image motion analysis; image sequences; object detection; stereo image processing; traffic engineering computing; 3D camera motion analysis; 3D space; U-V disparity; adaptive cruise control system; binocular stereovision which; depth information; disparity information; forward vehicle collision mitigation; geometric information; moving observer; moving obstacle extraction; optical flow; stereo global motion model; Adaptive control; Cameras; Collision mitigation; Control systems; Image analysis; Image motion analysis; Information analysis; Motion analysis; Programmable control; Vehicles;
Conference_Titel :
Pattern Recognition, 2006. ICPR 2006. 18th International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
0-7695-2521-0
DOI :
10.1109/ICPR.2006.820
