Integrated motion and geometry based obstacle detection in image sequences of tra c scenes
نویسندگان
چکیده
In this paper a robust method for visual motion estimation under ego{motion is developed. The possible application of this method is image sequence analysis of road tra c or airport runway/taxiway scenes, where the camera is located in a moving vehicle. The method combines an application independent estimation of visual motion with speci c methods for instantaneous detection of the vanishing point in the image plane and of the over{road location of the camera. The stationary background is separated form the obstacles while detecting the ego{motion corrected visual motion of on{road objects.
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