Clemens Rabe, Uwe Franke, Reinhard KochAbstractIn this paper an approach for
estimating the three dimensional motion field of the observed world from
stereo image sequences is proposed. This approach combines dense
optical flow estimation, including spatial regularization, and dense
stereo information using Kalman filters for temporal smoothness and
robustness. The result is a dense, robust and accurate reconstruction of
the three-dimensional motion field of the observed scene. Parallel
implementation on a GPU and a FPGA yields a real-time vision-system
which is directly applicable in real-world scenarios, like automotive
driver assistance systems, robotics or in the field of surveillance. [Download] [View] [BibTeX] |
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