The knowledge about moving objects plays an important role in robot navigation and driver assistance systems. Several motion detection techniques based on the optical flow were developed in the past. To our knowledge none of them exploit the available constraint envelope of a 3D point. In this paper a two-view algorithm is proposed taking advantage of the epipolar, the positive depth, and the positive height constraint, allowing the detection of independent motion and most collinear motions. The constraints are combined in a unified manner resulting in a scalar error function. This enables a direct weighting of the error with the certainty of the measured optical flow. Furthermore, the detection limit of objects moving collinear with the camera and with identical speed is investigated. Experimental results in traffic and indoor scenarios demonstrate the effectiveness of the proposed algorithm.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Monocular Motion Detection Using Spatial Constraints in a Unified Manner


    Contributors:
    Klappstein, J. (author) / Stein, F. (author) / Franke, U. (author)


    Publication date :

    2006-01-01


    Size :

    3420102 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Monocular Motion Detection Using Spatial Constraints in a Unified Manner

    Klappstein, J. / Stein, F. / Franke, U. | British Library Conference Proceedings | 2006


    Markerless Monocular Motion Capture Using Image Features and Physical Constraints

    Chen, Y. / Lee, J. / Parent, R. et al. | British Library Conference Proceedings | 2005


    Markerless monocular motion capture using image features and physical constraints

    Yisheng Chen, / Lee, J. / Parent, R. et al. | IEEE | 2005


    Monocular motion segmentation

    Romera,M.M. / Pagel,F. / Fraunhofer Inst.f.Informations.u.Datenverarbeitung,IITB,DE | Automotive engineering | 2009


    Monocular pedestrian recognition using motion parallax

    Enzweiler, M. / Kanter, P. / Gavrila, D. M. | IEEE | 2008