New visual invariants for obstacle detection using optical flow induced from general motion

To operate autonomous vehicles safely, obstacles must be detected before any path planning and obstacle avoidance activity is undertaken. In the paper, a novel approach to obstacle detection is developed. New visual linear invariants based on optical flow have been developed. Employing the linear in...

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Bibliographic Details
Published in[1992] Proceedings IEEE Workshop on Applications of Computer Vision pp. 100 - 109
Main Authors Young, G.-S., Hong, T.-H., Herman, M., Yang, J.C.S.
Format Conference Proceeding
LanguageEnglish
Published IEEE Comput. Soc. Press 1992
Subjects
Fluid flow measurement
Image motion analysis
Land vehicles
Mobile robots
Navigation
Optical detectors
Path planning
Remotely operated vehicles
Vehicle detection
Vehicle safety
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Summary:To operate autonomous vehicles safely, obstacles must be detected before any path planning and obstacle avoidance activity is undertaken. In the paper, a novel approach to obstacle detection is developed. New visual linear invariants based on optical flow have been developed. Employing the linear invariance property, obstacles an be directly detected by using a reference flow line obtained from measured optical flow. This method can be used for ground vehicles to navigate through man-made roadways or natural outdoor terrain or for air vehicles to land on known or unknown terrain.< >
ISBN:9780818628405
0818628405
DOI:10.1109/ACV.1992.240322