ECHTZEIT-HINDERNISERKENNUNG MIT EINER KALIBRIERTEN KAMERA UND BEKANNTER EGO-BEWEGUNG

摘要

A method and system of real-time obstacle detection from a moving vehicle is provided. The method and system use a calibrated image capturing device. The method and system use a motion estimation technique to pick points with reliable image motion flows, and performs very fast sparse matching between the image motion flows and true motion flows calculated from the ego-motion of the image capturing device. Any mismatch between the image motion flows and the true motion flows are verified over time to achieve robust obstacle detection.