Motion compensation for obstacle detection based on homography and odometric data with virtual camera perspectives

IEEE Intelligent Vehicles Symposium, Proceedings

Volumn , Issue , 2010, Pages 1152-1158

  Miksch, Michael ^a   Yang, Bin ^a   Zimmermann, Klaus ^b  

^a UNIVERSITY OF STUTTGART   (Germany)

^b Sony Deutschland GmbH   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

BIRD'S EYE VIEW; CAMERA MOTIONS; CAMERA SELF-CALIBRATION; CAN BUS; HOMOGRAPHIES; IMAGE INFORMATION; IMAGE MOTION; IMAGE RECTIFICATION; MONOCULAR CAMERAS; MOTION FIELDS; MOVING VEHICLES; NON-LINEAR; OBSTACLE DETECTION; ODOMETRIC; ROAD SURFACES; VIRTUAL CAMERA;

INTELLIGENT VEHICLE HIGHWAY SYSTEMS; MOTION COMPENSATION; OBSTACLE DETECTORS; ROADS AND STREETS;

CAMERAS;

EID: 77956505382     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IVS.2010.5548000     Document Type: Conference Paper

References (19)

1. W. Enkelmann, "Obstacle detection by evaluation of optical flow fields from image sequences," in European Conference on Computer Vision, 1990, pp. 134-138.
2. W. Enkelmann, V. Gengenbach, W. Krüger, S. Rössle, and W. Tolle, "Obstacle detection by real-time optical flow evaluation," in IEEE Proc. Intelligent Vehicles Symposium, 1994, pp. 97-102.
3. W. Krüger, W. Enkelmann, S. Rössle, and W. Tolle, "Real-time estimation and tracking of optical flow vectors for obstacle detection," in IEEE Proc. Intelligent Vehicles Symposium, 1995, pp. 304-309.
4. N. Ancona, "A fast obstacle detection method based on optical flow," in European Conference on Computer Vision, 1992, pp. 267-271.
5. G. Lefaix, T. Marchand, and P. Bouthemy, "Motion-based obstacle detection and tracking for car driving assistance," in IEEE Proc. Int. Conference on Pattern Recognition, vol. 4, 2002, pp. 74-77.
6. A. Giachetti, M. Campani, and V. Torre, "The use of optical flow for road navigation," IEEE Transactions on Robotics and Automation, vol. 14, pp. 34-48, 1998.
7. S. P. Batavia, D. A. Pomerleau, and C. E. Thorpe, "Overtaking vehicle detection using implicit optical flow," in IEEE Proc. International Conference on Intelligent Transportation Systems, 1997, pp. 729-734.
8. W. Krüger, "Robust real-time ground plane motion compensation from a moving vehicle," Machine Vision and Applications, vol. 11, no. 4, pp. 203-212, 1999.
9. C. Braillon, C. Pradalier, J. L. Crowley, and C. Laugier, "Real-time moving obstacle detection using optical flow models," in IEEE Proc. Intelligent Vehicles Symposium, 2006, pp. 466-471.
10. H. A. Mallot, H. H. Bülthoff, J. J. Little, and S. Bohrer, "Inverse perspective mapping simplifies optical flow computation and obstacle detection," Biological Cybernetics 64, pp. 177-185, 1991.
11. M. Bertozzi and A. Broggi, "Gold: A parallel real-time stereo vision system for generic obstacle and lane detection," IEEE Transactions on Image Processing, vol. 7, no. 1, pp. 62-81, 1998.
12. S. Tan, J. Dale, A. Anderson, and A. Johnston, "Inverse perspective mapping and optic flow: A calibration method and a quantitative analysis," Image and Vision Computing 24, p. 153165, 2006.
13. M. Miksch, B. Yang, and K. Zimmermann, "Homography-based extrinsic self-calibration for cameras in automotive applications," in Workshop on Intelligent Transportation, 2010, pp. 17-22.
14. M. Woock, F. Pagel, M. Grinberg, and D. Willersinn, "Odometry-based structure from motion," in IEEE Proc. Intelligent Vehicles Symposium, 2007, pp. 1112-1117.
15. M. Bühren and B. Yang, "On motion models for target tracking in automotive applications," in Workshop on Intelligent Transportation, Hamburg, Germany, 2007.
16. R. I. Hartley and A. Zisserman, Multiple View Geometry in Computer Vision, 2nd ed. Cambridge University Press, 2004.
17. Z. Zhang, "A flexible new technique for camera calibration," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 22, pp. 1330-1334, 1998.
18. A. Broggi and S. Berté, "Vision-based road detection in automotive systems: a real-time expectation-driven approach," Journal of Articial Intelligence Research, vol. 3, pp. 325-348, 1995.
19. A. Seki and M. Okutomi, "Robust obstacle detection in general road environment based on road extraction and pose estimation," in IEEE Proc. Intelligent Vehicles Symposium, 2006, pp. 437-144.