Real-time Detection of Maneuvering Objects by a Monocular Observer
Antonis Argyros, Manolis Lourakis, Panos E. Trahanias, Stelios C. Orphanoudakis · 1996
A method is proposed for real-time detection of objects that maneuver in the visual field of a monocular observer. Such cases are common in natural environments where the 3D motion parameters of certain objects (e.g. animals) change considerably over time. The approach taken conforms with the theory of purposive vision, according to which vision algorithms should solve many, specific problems under loose assumptions. The method can effectively answer two important questions: (a) whether the observer has changed his 3D motion parameters, and (b) in case that the observer has constant 3D motion, whether there are any maneuvering objects (objects with non-constant 3D motion parameters) in his visual field. The approach is direct in the sense that the structure from motion problem - which can only be solved under restrictive assumptions - is avoided. Essentially, the method relies on a pointwise comparison of two normal flow fields which can be robustly computed from three successive frame...