This paper proposes a method for detecting moving obstacles on roads, by using a vehicle mounted monocular camera. To detect various moving obstacles, such as vehicles and pedestrians, the ego-motion of the vehicle is initially estimated from images captured by the camera. There are two problems in ego-motion estimation. Firstly, a typical road scene contains moving obstacles. This causes false estimation of the ego-motion. Secondly, roads possess fewer features, when compared to the number associated with background structures. This reduces the accuracy of ego-motion estimation. In our approach, the ego-motion is estimated from the correspondences of dispersed feature points extracted from various regions other than those that contain moving obstacles. After estimating the ego-motion, any moving obstacles are detected by tracking the feature points over consecutive frames. In our experiments, it has been shown that the proposed method is able to detect moving obstacles.


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    Title :

    Moving Obstacle Detection using Monocular Vision


    Contributors:
    Yamaguchi, K. (author) / Kato, T. (author) / Ninomiya, Y. (author)


    Publication date :

    2006-01-01


    Size :

    2193597 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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