Uncalibrated Obstacle Identification Using Affine Structure From Motion

In this report, we describe an obstacle identification method using affine structures from motion. We first identify a reference plane by tracking feature points across image sequences. We then compute the homographies between images induced by the reference plane from these feature points. Once the feature points are categorized as on the plane and off the plane, we reconstruct the affine structure from all the off-plane points. The obstacles are identified from the affine structure. Our method doesn’t require a calibrated camera. Results of simulated and real experiments show that our method work very well. This work is supported by the Apple Aid through NAUEOD contract N00174-03-C-0017 and the NSF RI grant No. EIA-0080124.