Motion Field and Optical Flow: Qualitative Properties
IEEE Transactions on Pattern Analysis and Machine Intelligence
Global rigidity constraints in image displacement fields
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Robustness of c-velocity based methods for 3D moving plane detection
Pattern Recognition and Image Analysis
Focus of expansion localization through inverse C-velocity
ICIAP'11 Proceedings of the 16th international conference on Image analysis and processing: Part I
Error sources and their impact on c-velocity methods
Pattern Recognition and Image Analysis
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This paper deals with the detection of any kind of parameterized surface without camera calibration or a priori knowledge about the vehicle egomotion. We assume in this first study that the 3D scene is a set of 3D planes that we propose to detect exploiting iso-velocity curves bound to an estimated optical flow. We believe that cumulative approaches based on a voting scheme are very efficient in making more robust the detection and cooping with optical flow imprecision. Therefore, we design a Hough-like frame called c-velocity. We show how this c-velocity could serve exhibiting any plane. 3D-planar structures like obstacles, road or buildings are focused on in the context of a driver assistance application. Under a translational camera motion, planar surfaces are transformed into parabolic of the cvelocity space.