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Obstacle Detection from a Moving Vehicle

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Advances in Human-Computer Interaction

Part of the book series: Research Reports Esprit ((3319,volume 1))

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Abstract

In this paper a method to compute a reliable optical flow from image sequences and detect static and moving obstacles during ego-motion is presented. The method consists of two phases: an off-line calibration phase during which a reference optical flow relative to the ground plane and a given camera velocity is computed; a fast on-line procedure to compute the amplitude of the optical flow during the motion of the camera, which is compared with the reference map obtained from the calibration phase.

For the calibration phase, the optical flow is computed using a closed form solution of an over-determined system of equations involving both first and second order partial derivatives, in space and time, of the image intensities. The detection of static obstacles implies the computation of first order partial dervatives only. The on-line procedure can be very fast and is suitable for hardware of firmware implementation in a real-time, robust vision system for navigation purposes. Experiments on real image sequences are presented.

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Author information

Authors and Affiliations

  1. Department of Communication, Computer and Systems Science, DIST Laboratory for Integrated Advanced Robotics - LIRA lab., University of Genoa, Via Opera Pia 11A, 16145, Genoa, Italy

    Massimo Tistarelli & Giulio Sandini

Authors
  1. Massimo Tistarelli
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  2. Giulio Sandini
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Editor information

Editors and Affiliations

  1. Expertise Information Systems GmbH, Budapester Str. 21, D-81669, Munich, Germany

    Silvia Pfleger

  2. Dept. of Computer Science, Technical University of Munich, Orleansstr. 34, D-81667, Munich, Germany

    Silvia Pfleger

  3. Joint Research Institute, European Commission, I-21020, Ispra, Italy

    Joao Gonçalves

  4. European Commission, DG III Industry, Rue de la Loi 200, B-1049, Brussels, Belgium

    Kadamula Varghese

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© 1995 ECSC-EC-EAEC, Brussels-Luxembourg

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Tistarelli, M., Sandini, G. (1995). Obstacle Detection from a Moving Vehicle. In: Pfleger, S., Gonçalves, J., Varghese, K. (eds) Advances in Human-Computer Interaction. Research Reports Esprit, vol 1. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-85220-6_10

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  • DOI: https://doi.org/10.1007/978-3-642-85220-6_10

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-60145-6

  • Online ISBN: 978-3-642-85220-6

  • eBook Packages: Springer Book Archive

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