Moving Obstacle Detection using Monocular Vision

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...

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Bibliographic Details
Published in2006 IEEE Intelligent Vehicles Symposium pp. 288 - 293
Main Authors Yamaguchi, K., Kato, T., Ninomiya, Y.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2006
Subjects
Cameras
Image motion analysis
Laser radar
Layout
Nonlinear optics
Optical sensors
Radar detection
Road vehicles
Robustness
Vehicle detection
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ISBN490112286X
9784901122863
ISSN1931-0587
DOI10.1109/IVS.2006.1689643

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Summary: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
ISBN:490112286X
9784901122863
ISSN:1931-0587
DOI:10.1109/IVS.2006.1689643