Numerical Recipes in C: The Art of Scientific Computing
Numerical Recipes in C: The Art of Scientific Computing
Integrated 3-D Analysis and Analysis-Guided Synthesis of Flight Image Sequences
IEEE Transactions on Pattern Analysis and Machine Intelligence
An integrated stereo-based approach to automatic vehicle guidance
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Motion detection in image sequences acquired from a moving platform
ICASSP'93 Proceedings of the 1993 IEEE international conference on Acoustics, speech, and signal processing: image and multidimensional signal processing - Volume V
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This paper proposes a method for detecting obstacles on a runway from monocular image sequences. The surface of the runway is modelled as a plane and the model flow field corresponding to the runway is described by 8 coefficients. The set of 8 coefficients describing the initial model flow field is given by the data from inertial navigation system (INS). The uncertainties of this initial model flow field are estimated and used to obtain the accurate model flow field. The residual flow field after warping images by the accurate model flow field is computed by solving overdetermined gradient-based optical flow equations using a singular value decomposition (SVD). This SVD gives us a new insight of the uncertainties inherent in the optical flow computation. Those pixels with large residual flow vectors are considered as obstacles. Experimental results for two real image sequences are presented.