| 摘要 |
A motion detecting engine is provided. Given a pair of stereo rectified images in which the stereo rectified images are taken at different times from one or more sensors that are oriented perpendicular to a stereo baseline and parallel to each other, for each feature in one of the stereo rectified images, the motion detecting engine associates a subject feature with the same feature in the other stereo rectified image to form a feature association. For each feature association, the motion detecting engine forms a feature motion track following a subject feature association from one of the stereo rectified images to the other stereo rectified image. The motion detecting engine then differentiates feature motion tracks from other feature motion tracks that are parallel to the stereo baseline. The feature motion tracks being differentiated by the motion detecting engine represent detected objects that are moving with respect to the ground. |
