Robust regression and outlier detection
Robust regression and outlier detection
Autonomous Robotic Vehicle Road Following
IEEE Transactions on Pattern Analysis and Machine Intelligence
SUSAN—A New Approach to Low Level Image Processing
International Journal of Computer Vision
Estimation of Relative Camera Positions for Uncalibrated Cameras
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Efficient tracking and ego-motion recovery using gait analysis
Signal Processing
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We consider the detection of hazards within the ground plane immediately in front of a moving pedestrian. Consecutive views of the scene are acquired by a standard video camera. Using epipolar constraints between views, detected features are matched to compute the camera motion and reconstruct the 3D geometry. Assuming the ground is planar, projective invariance of the cross-ratio and the presence or absence of significant peaks in a Lomb-Scargle periodogram are used in a region-growing technique to label a triangulated mesh as obstructed or unobstructed ground plane. The eventual goal of our approach is to provide an aid to elderly pedestrians in the avoidance of tripping hazards, for example uneven flagstones or kerbs.