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Authors: Hernán Badino ; Uwe Franke ; Clemens Rabe and Stefan Gehrig

Affiliation: DaimlerChrysler AG, Germany

Keyword(s): Stereo Vision, Kalman Filter, Tracking, Ego-Motion Estimation

Related Ontology Subjects/Areas/Topics: Active and Robot Vision ; Applications ; Computer Vision, Visualization and Computer Graphics ; Human-Computer Interaction ; Methodologies and Methods ; Motion and Tracking ; Motion, Tracking and Stereo Vision ; Pattern Recognition ; Physiological Computing Systems ; Real-Time Vision ; Retrieval of 3D Objects from Video Sequences ; Stereo Vision and Structure from Motion

Abstract: The visual perception of independent 3D motion from a moving observer is one of the most challenging tasks in computer vision. This paper presents a powerful fusion of depth and motion information for image sequences. For a large number of points, 3D position and 3D motion is simultaneously estimated by means of Kalman Filters. The necessary ego-motion is computed based on the points that are identified as static points. The result is a real-time system that is able to detect independently moving objects even if the own motion is far from planar. The input provided by this system is suited to be used by high-level perception systems in order to carry out cognitive processes such as autonomous navigation or collision avoidance.

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Paper citation in several formats:
Badino, H.; Franke, U.; Rabe, C. and Gehrig, S. (2006). STEREO VISION-BASED DETECTION OF MOVING OBJECTS UNDER STRONG CAMERA MOTION. In Proceedings of the First International Conference on Computer Vision Theory and Applications (VISIGRAPP 2006) - Volume 2: VISAPP; ISBN 972-8865-40-6; ISSN 2184-4321, SciTePress, pages 253-260. DOI: 10.5220/0001375702530260

@conference{visapp06,
author={Hernán Badino. and Uwe Franke. and Clemens Rabe. and Stefan Gehrig.},
title={STEREO VISION-BASED DETECTION OF MOVING OBJECTS UNDER STRONG CAMERA MOTION},
booktitle={Proceedings of the First International Conference on Computer Vision Theory and Applications (VISIGRAPP 2006) - Volume 2: VISAPP},
year={2006},
pages={253-260},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001375702530260},
isbn={972-8865-40-6},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the First International Conference on Computer Vision Theory and Applications (VISIGRAPP 2006) - Volume 2: VISAPP
TI - STEREO VISION-BASED DETECTION OF MOVING OBJECTS UNDER STRONG CAMERA MOTION
SN - 972-8865-40-6
IS - 2184-4321
AU - Badino, H.
AU - Franke, U.
AU - Rabe, C.
AU - Gehrig, S.
PY - 2006
SP - 253
EP - 260
DO - 10.5220/0001375702530260
PB - SciTePress

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