Device and method for detection of moving obstacles

Details Device and method for detection of moving obstacles Device and method for detection of moving obstacles

1996-01-19

1998-07-07

Chin, Tommy P.

Television

Image signal processing circuitry specific to television

Motion vector generation

348155, 382103, 382236, H04N 514, H04N 964, H04N 718

Patent

active

057776903

ABSTRACT:
A moving obstacle detecting device detects moving objects, may be applied in the field of autonomous vehicles, intelligent robots, video monitoring system and similar systems. The device includes an optical flow extracting unit 1 for extracting optical flows for the respective local regions in the measured images, an focus of expansion (F.O.E.) calculating unit for calculating an F.O.E. of a straight line extended by the extracted optical flows, and a moving obstacle detecting unit for analyzing a temporal change of the calculated F.O.E. to judge the presence of the moving obstacle when the temporal positional change is larger than a predetermined variation quantity.

REFERENCES:
patent: 4692806 (1987-09-01), Anderson et al.
patent: 5034986 (1991-07-01), Karmann et al.
patent: 5067014 (1991-11-01), Bergen et al.
patent: 5247586 (1993-09-01), Gobert et al.
patent: 5259040 (1993-11-01), Hanna
patent: 5473364 (1995-12-01), Burt
patent: 5557684 (1996-09-01), Wang et al.
Weber et al., "Robust Computation of Optical Flow in a Multi-Scale Differential Framework", IEEE, pp. 12-19, (1993).
Tian et al., "Recovering 3D Motion of Multiple Objects Using Adaptive Hough Transform", IEEE, pp. 284-289, (1995).

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