首页> 外文会议>Complex Motion; Lecture Notes in Computer Science; 3417 >Robust Monocular Detection of Independent Motion by a Moving Observer
【24h】

Robust Monocular Detection of Independent Motion by a Moving Observer

机译:运动观察者对独立运动的鲁棒单目检测

获取原文
获取原文并翻译 | 示例

摘要

A fast and robust algorithm for the detection of independently moving objects by a moving observer by means of investigating optical flow fields is presented. The detection method for independent motion relies on knowledge about the camera motion. Even though inertial sensors provide information about the camera motion, the sensor data does not always satisfy the requirements of the proposed detection method. The first part of this paper therefore deals with the enhancement of earlier work by ego-motion refinement. A linearization of the ego-motion estimation problem is presented. Further on a robust enhancement to this approach is given.rnSince the measurement of optical flow is a computationally expensive operation, it is necessary to restrict the number of flow measurements. The proposed algorithm uses two different ways to determine the positions, where optical flow is calculated. A fraction of the positions is determined by using a sequential Monte Carlo sampling resampling algorithm, while the remaining fraction of the positions is determined by using a random variable, which is distributed according to an initialization distribution. This approach results in a fixed number of optical flow calculations leading to a robust real time detection of independently moving objects on standard consumer PCs.
机译:提出了一种快速健壮的算法,用于通过调查光流场来检测移动的观察者独立移动的对象。独立运动的检测方法依赖于有关摄像机运动的知识。即使惯性传感器提供了有关摄像机运动的信息,但传感器数据并不总是满足提出的检测方法的要求。因此,本文的第一部分讨论了通过自我运动改进来增强早期工作。提出了自我运动估计问题的线性化。由于对该光流的测量是计算上昂贵的操作,因此有必要限制流测量的数量。所提出的算法使用两种不同的方法来确定计算光流的位置。位置的一部分通过使用顺序蒙特卡洛采样重采样算法确定,而位置的其余部分通过使用随机变量确定,该随机变量根据初始化分布进行分配。这种方法可进行固定数量的光流计算,从而能够可靠地实时检测标准消费类PC上独立移动的物体。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱:kefu@zhangqiaokeyan.com

京公网安备:11010802029741号 ICP备案号:京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有
  • 客服微信

  • 服务号