Detection of Moving Objects by Spatio-Temporal Motion Analysis

Clemens Rabe

ISBN 10: 383813219X / ISBN 13: 9783838132198

Published by Südwestdeutscher Verlag Für Hochschulschriften AG Co. KG Jul 2015, 2015

About this Item

Neuware -Driver assistance systems of the future require a thorough understanding of the car's environment. In this thesis, a novel principle (6D-Vision) is presented and investigated in detail, which allows the reconstruction of the 3D motion field from the image sequence obtained by a stereo camera system. Given correspondences of stereo measurements over time, this principle estimates the 3D position and the 3D motion vector of selected points using Kalman Filters, resulting in a real-time estimation of the observed motion field. To estimate the absolute motion ¿eld, the ego-motion of the moving observer must be known precisely. Thus, a novel algorithm to estimate the ego-motion from the image sequence is presented. As the 6D-Vision principle is not restricted to particular image processing algorithms, various optical ¿ow and stereo algorithms are evaluated. In addition, two novel scene ¿ow algorithms are introduced, measuring the optical ¿ow and stereo information in a combined approach. This yields more precise and robust results. The application to real-world data, including a demonstrator vehicle for autonomous collision avoidance, is illustrated throughout the thesis.Books on Demand GmbH, Überseering 33, 22297 Hamburg 168 pp. Englisch.

Seller Inventory # 9783838132198

Bibliographic Details

• Title: Detection of Moving Objects by Spatio-Temporal Motion Analysis
• Publisher: Südwestdeutscher Verlag Für Hochschulschriften AG Co. KG Jul 2015
• Publication Date: 2015
• Language: English
• ISBN 10: 383813219X
• ISBN 13: 9783838132198
• Binding: Taschenbuch
• Condition: Neu

About this title

Synopsis

Driver assistance systems of the future require a thorough understanding of the car's environment. In this thesis, a novel principle (6D-Vision) is presented and investigated in detail, which allows the reconstruction of the 3D motion field from the image sequence obtained by a stereo camera system. Given correspondences of stereo measurements over time, this principle estimates the 3D position and the 3D motion vector of selected points using Kalman Filters, resulting in a real-time estimation of the observed motion field. To estimate the absolute motion field, the ego-motion of the moving observer must be known precisely. Thus, a novel algorithm to estimate the ego-motion from the image sequence is presented. As the 6D-Vision principle is not restricted to particular image processing algorithms, various optical flow and stereo algorithms are evaluated. In addition, two novel scene flow algorithms are introduced, measuring the optical flow and stereo information in a combined approach. This yields more precise and robust results. The application to real-world data, including a demonstrator vehicle for autonomous collision avoidance, is illustrated throughout the thesis.

About the Author

was born in 1979 in Gießen, Germany. He attained his diploma degree in computer engineering from the University of Applied Sciences Würzburg, Germany in 2005. In 2011, he was awarded his PhD in computer science from the University of Kiel, Germany. He works as a research engineer at the Daimler AG in Sindelfingen, Germany.