Authors:
Samia Bouchafa
;
Antoine Patri
and
Bertrand Zavidovique
Affiliation:
University Paris Sud XI, France
Keyword(s):
Image motion analysis, Pattern recognition, Image scene analysis, Ego motion.
Related
Ontology
Subjects/Areas/Topics:
Image Processing
;
Informatics in Control, Automation and Robotics
;
Intelligent Transportation Technologies and Systems
;
Robotics and Automation
;
Vision, Recognition and Reconstruction
Abstract:
This paper deals with plane extraction from a single moving camera through a new optical-flow cumulative process. We show how this c-velocity defined by analogy to the v-disparity in stereovision, could serve exhibiting any plane whatever their orientation. We focus on 3D-planar structures like obstacles, road or buildings. A translational camera motion being assumed, the c-velocity space is then a velocity cumulative frame in which planar surfaces are transformed into lines, straight or parabolic. We show in the paper how this representation makes plane extraction robust and efficient despite the poor quality of classical optical flow.