Monocular vision based independently moving feature detection using image correspondences

Author

Kim, Sijong ; Kang, Jungwon ; Chung, Myung Jin

Author_Institution

Dept. of Electr. Eng., KAIST, Daejeon, South Korea

fYear

2012

fDate

17-21 Oct. 2012

Firstpage

2181

Lastpage

2184

Abstract

In this paper, we propose a independently moving feature detection algorithm using monocular vision. The proposed algorithm can detect independently moving feature points from all of the feature points by geometric constraints. The geometric constraints consist of epipolar constraint and trifocal constraint. The proposed algorithm can be implemented in real time. Therefore, it can be directly apply to mobile robots and intelligent vehicles. We test our algorithm with real outdoor datasets.

Keywords

automated highways; computational geometry; feature extraction; image motion analysis; mobile robots; set theory; epipolar constraint; geometric constraint; image correspondences; independently moving feature detection algorithm; intelligent vehicles; mobile robots; monocular vision; moving feature points; real-outdoor datasets; trifocal constraint; Automation; Feature extraction; Intelligent vehicles; Mobile robots; Stereo vision; Tensile stress; Vehicles; image correspondence; independently moving feature detection; monocular vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2012 12th International Conference on

Conference_Location

JeJu Island

Print_ISBN

978-1-4673-2247-8

Type

conf

Filename

6393213