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Authors: Sion Hannuna 1 ; Xianghua Xie 2 ; Majid Mirmehdi 1 and Neill Campbell 1

Affiliations: 1 Department of Computer Science, University of Bristol, United Kingdom ; 2 Department of Computer Science, University of Wales Swansea, United Kingdom

Keyword(s): Uncategorised object detection, Stereo depth, Assisted blind navigation, Sparse optical flow.

Related Ontology Subjects/Areas/Topics: Applications ; Computer Vision, Visualization and Computer Graphics ; Human-Computer Interaction ; Image and Video Analysis ; Methodologies and Methods ; Motion and Tracking ; Motion, Tracking and Stereo Vision ; Pattern Recognition ; Physiological Computing Systems ; Software Engineering ; Video Analysis

Abstract: We propose a robust approach to annotating independently moving objects captured by head mounted stereo cameras that are worn by an ambulatory (and visually impaired) user. Initially, sparse optical flow is extracted from a single image stream, in tandem with dense depth maps. Then, using the assumption that apparent movement generated by camera egomotion is dominant, flow corresponding to independently moving objects (IMOs) is robustly segmented using MLESAC. Next, the mode depth of the feature points defining this flow (the foreground) are obtained by aligning them with the depth maps. Finally, a bounding box is scaled proportionally to this mode depth and robustly fit to the foreground points such that the number of inliers is maximised.

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Paper citation in several formats:
Hannuna, S.; Xie, X.; Mirmehdi, M. and Campbell, N. (2009). GENERIC MOTION BASED OBJECT SEGMENTATION FOR ASSISTED NAVIGATION. In Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2009) ISBN 978-989-8111-69-2; ISSN 2184-4321, pages 450-457. DOI: 10.5220/0001785704500457

@conference{visapp09,
author={Sion Hannuna. and Xianghua Xie. and Majid Mirmehdi. and Neill Campbell.},
title={GENERIC MOTION BASED OBJECT SEGMENTATION FOR ASSISTED NAVIGATION},
booktitle={Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2009)},
year={2009},
pages={450-457},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001785704500457},
isbn={978-989-8111-69-2},
issn={2184-4321},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, (VISIGRAPP 2009)
TI - GENERIC MOTION BASED OBJECT SEGMENTATION FOR ASSISTED NAVIGATION
SN - 978-989-8111-69-2
IS - 2184-4321
AU - Hannuna, S.
AU - Xie, X.
AU - Mirmehdi, M.
AU - Campbell, N.
PY - 2009
SP - 450
EP - 457
DO - 10.5220/0001785704500457