A Computational Approach to Edge Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
Subspace methods for recovering rigid motion I: algorithm and implementation
International Journal of Computer Vision
Performance of optical flow techniques
International Journal of Computer Vision
The computation of optical flow
ACM Computing Surveys (CSUR)
On the consistency of instantaneous rigid motion estimation
International Journal of Computer Vision
Motion Segmentation Using Occlusions
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust Instantaneous Rigid Motion Estimation
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
GOLD: a parallel real-time stereo vision system for generic obstacle and lane detection
IEEE Transactions on Image Processing
EURASIP Journal on Advances in Signal Processing - Special issue on advanced image processing for defense and security applications
Track detection for autonomous trains
ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part III
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In most imaging devices (including the human eye), the mechanisms that govern the projection of a 3D scene onto a 2D surface render the extraction of useful 3D information difficult. We investigate the effects of perspective on optic flow in a driver assistance application in which a camera is mounted on the wing mirror in order to observe a driver's so called 'blind spot'. A car travelling toward the camera appears to increase in speed and size on the projected image although its real speed and size are constant. We show that the inverse perspective mapping, previously used for obstacle detection, can also help in the problem of extracting real world speed from 2D optic flow data. We provide a quantitative analysis that shows precisely to what degree speed uniformity in the 3D world can be recovered by the mapping. To determine some mapping parameters, we devised a calibration method adapted to our specific situation that can be performed on-line and unsupervised. Its simplicity lends itself to fast software or hardware implementation.