Real-Time Sparse Scene Flow from Dense Stereo
نویسنده
چکیده
Generic object detection and tracking is an integral requirement of navigation and collision avoidance for autonomous mobile platforms. Robustly calculating the scene flow of complex urban traffic environments remains a difficult research problem, and the contextual information generated from this process can be valuable to other downstream decision-making processes. This paper presents the implementation of an object detection and tracking system that calculates scene flow from a stereo camera image stream. We detail the various stages of the processing pipeline, as well as highlight several of the salient design challenges and considerations that surfaced throughout development and suggest several possible solutions.
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