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Pregled bibliografske jedinice broj: 512616

Optical Flow Field Segmentation in an Omnidirectional Camera Image Based on Known Camera Motion


Šamija, Hrvoje; Marković Ivan; Petrović Ivan
Optical Flow Field Segmentation in an Omnidirectional Camera Image Based on Known Camera Motion // Proceedings of the 34th International Convention on Information and Communication Technology, Electronics and Microelectronics (MIPRO 2011)
Opatija, Croatia, 2011. str. 165-169 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Optical Flow Field Segmentation in an Omnidirectional Camera Image Based on Known Camera Motion

Autori
Šamija, Hrvoje ; Marković Ivan ; Petrović Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 34th International Convention on Information and Communication Technology, Electronics and Microelectronics (MIPRO 2011) / - Opatija, Croatia, 2011, 165-169

Skup
International Convention on Information and Communication Technology, Electronics and Microelectronics

Mjesto i datum
Opatija, Hrvatska, 23-27.05.2011.

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Optical flow; Omnidireactional camera; Mobile robotics

Sažetak
We consider the problem of optical flow analysis in an omnidirectional camera image, in order to segment out dynamic objects from ego-motion caused optical flow. The aim is to use the camera on a mobile robot, thus making it reasonable to assume knowledge of the camera movement in the horizontal plane. Estimation of the optical flow is performed in the omnidirectional image. By knowing the ego-motion, it is possible to calculate the resulting optical flow field with the necessary assumption of planarity of the surrounding scene (the mobile robot is in an open, flat space). However, comparing the calculated and estimated flow field, with the latter assumption by comparing the flow vectors or winding, did not result in satisfactory estimates. Therefore, we propose to geometrically map the optical flow vectors on a sphere, centered at the center of the central panoramic camera projection, since we observed the space angle to be invariant to the errors of the planar space assumption. In the experiments we show that the proposed approach is more robust than comparing the flows in the image plane. In addition, properties of the observed angle for the inverse problem of determining camera ego-motion are considered.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Nedjeljko Perić, )
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb