ESTIMATING OBJECTS PROPER MOTION USING OPTICAL FLOW, KINEMATICS AND DEPTH INFORMATION

摘要

The invention relates to a method for detecting the proper motion of an real-world object, comprising the steps of acquiring, by an image capturing device (ICD), a first image (I₁) of the object at a first point in time (t₁) and a second image (I₂) at a second point in time (t₂); obtaining a third (hypothetical) image (I₃), based on an estimated effect of the motion of the image capturing device (ICD) itself (EMF) between the first and the second point in time (t₁, t₂), wherein the effect of the motion of the image capturing device (ICD) itself is estimated based on the forward kinematics of the image capturing device; determining an optical flow (OF) between the second image (I₂) and the third image (I₃); and evaluating the optical flow (OF) by incorporating uncertainties of the optical flow (OF) and the ego-motion-flow (EMF) in order to determine the proper motion of the object.