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1994
Conference Paper
Titel
Obstacle detection by real-time optical flow evaluation
Abstract
Reliable estimation of optical flow vectors facilitates the evaluation of the motion of a camera relative to the environment. Furthermore, optical flow vectors comprise information about the three-dimensional structure of the recorded scene. In this contribution we present an approach for the detection of stationary obstacles and moving objects in front of a vehicle. The detection of obstacles and other objects is based on the evaluation of optical flow. The optical flow vectors are calculated with a local analytical approach. The necessary first and second order spatio-temporal derivatives are computed in real-time with our second-generation custom designed image sequence analysis system MiniVISTA. At all image locations it is tested whether the structure of the gray value distribution is sufficient for a local optical flow vector calculation or not. Only those sets of spatio-temporal derivatives which passed this structure test are transmitted to subsequent processes being executed o n a transputer network. Experimental results obtained from image sequences recorded on our experimental vehicles MB 609D and BMW 735 iL are presented.
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