Braillon et al., 2006 - Google Patents

Real-time moving obstacle detection using optical flow models

Braillon et al., 2006

View PDF
Document ID
7370587669099216448
Author
Braillon C
Pradalier C
Crowley J
Laugier C
Publication year
Publication venue
2006 IEEE Intelligent Vehicles Symposium

External Links

Snippet

In this paper, we propose a real-time method to detect obstacles using theoretical models of optical flow fields. The idea of our approach is to segment the image in two layers: the pixels which match our optical flow model and those that do not (ie the obstacles). In this paper, we …
Continue reading at inria.hal.science (PDF) (other versions)

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06K—RECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K9/00—Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
    • G06K9/00624—Recognising scenes, i.e. recognition of a whole field of perception; recognising scene-specific objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20112—Image segmentation details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
    • G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically, i.e. tracking systems
    • G01S3/7864—T.V. type tracking systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
    • G01C21/20—Instruments for performing navigational calculations

Similar Documents

Publication Publication Date Title
Braillon et al. Real-time moving obstacle detection using optical flow models
Zhang et al. Visual-lidar odometry and mapping: Low-drift, robust, and fast
US11461912B2 (en) Gaussian mixture models for temporal depth fusion
Theodorou et al. Visual SLAM algorithms and their application for AR, mapping, localization and wayfinding
US8260036B2 (en) Object detection using cooperative sensors and video triangulation
US8233660B2 (en) System and method for object motion detection based on multiple 3D warping and vehicle equipped with such system
US8711221B2 (en) Visually tracking an object in real world using 2D appearance and multicue depth estimations
Yang et al. Human detection for a robot tractor using omni-directional stereo vision
Leung et al. Visual navigation aid for the blind in dynamic environments
Dorfmüller Robust tracking for augmented reality using retroreflective markers
Mandelbaum et al. Correlation-based estimation of ego-motion and structure from motion and stereo
de Paula Veronese et al. A single sensor system for mapping in GNSS-denied environments
Ramezani et al. Omnidirectional visual-inertial odometry using multi-state constraint Kalman filter
Tang et al. Fmd stereo slam: Fusing mvg and direct formulation towards accurate and fast stereo slam
Dunlay et al. Obstacle avoidance on roadways using range data
Kirchhof et al. Detection of moving objects in airborne thermal videos
Romero-Cano et al. Stereo-based motion detection and tracking from a moving platform
Irmisch et al. Robust visual-inertial odometry in dynamic environments using semantic segmentation for feature selection
Chhaniyara et al. Optical flow algorithm for velocity estimation of ground vehicles: A feasibility study
Minaeian et al. Crowd detection and localization using a team of cooperative UAV/UGVs
Kanatani et al. Detection of 3D points on moving objects from point cloud data for 3D modeling of outdoor environments
Strydom et al. Airborne vision system for the detection of moving objects
Mandelbaum et al. Terrain reconstruction for ground and underwater robots
Hausler et al. Locking On: Leveraging Dynamic Vehicle-Imposed Motion Constraints to Improve Visual Localization
Laugier Real-time moving obstacle detection using optical flow models