Integrated motion and geometry-based obstacle detection in image sequences of traffic scenes
Heinrich Niemann, Włodzimierz Kasprzak, Peter Weierich · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1996
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 traffic 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 specific 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 from the obstacles while detecting the ego-motion corrected visual motion of on-road objects.