Vision Based Motion Estimation of Obstacles in Dynamic Unstructured Environments

  • Andrei Vatavu
  • Sergiu Nedevschi
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 283)


Modeling static and dynamic traffic participants is an important requirement for driving assistance. Reliable speed estimation of obstacles is an essential goal especially when the surrounding environment is crowded and unstructured. In this chapter we propose a solution for real-time motion estimation of obstacles by using the pairwise alignment of object delimiters. Instead of involving the whole 3D point cloud, more compact polygonal models are extracted from a classified digital elevation map and are used as input data for the alignment process.


Motion estimation Polygonal map Object contour  Iterative closest point Driving assistance Stereo-vision Object delimiters 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  1. 1.Computer Science DepartmentTechnical University of Cluj-NapocaCluj-NapocaRomania

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