Detection of moving objects from moving platform
نویسندگان
چکیده
A method of detecting moving objects from an image sequence acquired by a single moving camera is presented. No assumptions about the movement of the camera platform is made. Motion detection from a moving platform is a non-trivial problem as the moving camera induces apparent motion in the entire image. The epipolar geometric constraint is used between matched points in consecutive image frames to estimate the camera’s egomotion, described by the fundamental matrix. Criterion for rigidity detection are used to measure the confidence of the estimated fundamental matrix. Point correspondences which do not conform with the estimated ego-motion indicate dynamic objects. A GPU implementation is proposed to achieve significant performance increases compared to the standard CPU implementations.
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