Scale Invariant Detection and Tracking of Elongated Structures

  • Amaury Nègre
  • James L. Crowley
  • Christian Laugier
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 54)


This paper describes a method for the detection of tracking of elongated structures that is robust under changes of scale and orientation. This method is based on extending the concept of scale invariant natural interest points to include elongated ridge structures. An operator is proposed that directly detects ridge points and provides an estimation of their elongation and orientation. A tracking process is used to follow elongated features over time and to robustly observe changes in scale and orientation. Changes in scale are used to directly estimate time to contact. Experimental results demonstrate that the method works well in cluttered scenes that are typical of urban environments.


Graphic Processing Unit Interest Point Scale Invariant Feature Transform Ridge Line Laplacian Pyramid 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Amaury Nègre
    • 1
  • James L. Crowley
    • 1
  • Christian Laugier
    • 1
  1. 1.INRIA Grenoble Rhones Alpes Research CentreMontbonnotFrance

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