Multiple view geometry in computer vision
Multiple view geometry in computer vision
Robust Moving Object Detection at Distance in the Visible Spectrum and Beyond Using A Moving Camera
CVPRW '06 Proceedings of the 2006 Conference on Computer Vision and Pattern Recognition Workshop
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The purpose of this paper is to propose a new approach to detect obstacles using a single camera mounted on a vehicle when the vehicle is backing or turning round at an intersection at a low speed. Using equations among feature point locations and optical flows in geometrically converted top-view images, ground-movement information can be estimated. We compensate for the ground movement between consecutive top-view images using the estimated ground-movement information and compute the difference image using the compensated previous top-view image and current top-view image. Finally, obstacle regions in top-view images can be easily extracted using the difference image. The proposed approach is demonstrated to be effective by evaluation images captured by an in-vehicle camera.