发明名称 |
Moving target detection in the presence of parallax |
摘要 |
A method for detecting a moving target is disclosed that receives a plurality of images from at least one camera; receives a measurement of scale from one of a measurement device and a second camera; calculates the pose of the at least one camera over time based on the plurality of images and the measurement of scale; selects a reference image and an inspection image from the plurality of images of the at least one camera; and detects a moving target from the reference image and the inspection image based on the orientation of corresponding portions in the reference image and the inspection image relative to a location of an epipolar direction common to the reference image and the inspection image; and displays any detected moving target on a display. The measurement of scale can derived from a second camera or, for example, a wheel odometer. The method can also detect moving targets by combining the above epipolar method with a method based on changes in depth between the inspection image and the reference image and based on changes in flow between the inspection image and the reference image. |
申请公布号 |
US8340349(B2) |
申请公布日期 |
2012.12.25 |
申请号 |
US20070763559 |
申请日期 |
2007.06.15 |
申请人 |
SALGIAN GARBIS;SAMARASEKERA SUPUN;XIAO JIANGJIAN;BERGEN JAMES RUSSELL;KUMAR RAKESH;HAN FENG;SRI INTERNATIONAL |
发明人 |
SALGIAN GARBIS;SAMARASEKERA SUPUN;XIAO JIANGJIAN;BERGEN JAMES RUSSELL;KUMAR RAKESH;HAN FENG |
分类号 |
G06K9/00 |
主分类号 |
G06K9/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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