Least-Squares Estimation of Transformation Parameters Between Two Point Patterns
IEEE Transactions on Pattern Analysis and Machine Intelligence
Integrated Person Tracking Using Stereo, Color, and Pattern Detection
International Journal of Computer Vision - Special issue on a special section on visual surveillance
W4S: A real-time system detecting and tracking people in 2 1/2D
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume I - Volume I
Multi-resolution real-time stereo on commodity graphics hardware
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Leaving Flatland: Realtime 3D Stereo Semantic Reconstruction
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
GVE '07 Proceedings of the IASTED International Conference on Graphics and Visualization in Engineering
Realtime motion segmentation based multibody visual SLAM
Proceedings of the Seventh Indian Conference on Computer Vision, Graphics and Image Processing
Maximal cliques based rigid body motion segmentation with a RGB-D camera
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part II
Hierarchical object discovery and dense modelling from motion cues in RGB-D video
IJCAI'13 Proceedings of the Twenty-Third international joint conference on Artificial Intelligence
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We describe a system that detects independently moving objects from a mobile platform in real time using a calibrated stereo camera. Interest points are first detected and tracked through the images. These tracks are used to obtain the motion of the platform by using an efficient three-point algorithm in a RANSAC framework for outlier detection. We use a formulation based on disparity space for our inlier computation. In the disparity space, two disparity images of a rigid object are related by a homography that depends on the object's euclidean rigid motion. We use the homography obtained from the camera motion to detect the independently moving objects from the disparity maps obtained by an efficient stereo algorithm. Our system is able to reliably detect the independently moving objects at 16 Hz for a 320 x 240 stereo image sequence using a standard laptop computer.