Abstract
This paper presents a robust technique for estimating on-board monocular vision system pose. The proposed approach is based on a dense optical flow that is robust against shadows, reflections and illumination changes. A RANSAC based scheme is used to cope with the outliers in the optical flow. The proposed technique is intended to be used in driver assistance systems for applications such as obstacle or pedestrian detection. Experimental results on different scenarios, both from synthetic and real sequences, shows usefulness of the proposed approach.
This work has been partially supported by the Spanish Government under project TRA2007-62526/AUT; research programme Consolider-Ingenio 2010: MIPRCV (CSD2007-00018); and Catalan Government under project CTP 2008ITT 00001.
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Onkarappa, N., Sappa, A.D. (2010). On-Board Monocular Vision System Pose Estimation through a Dense Optical Flow. In: Campilho, A., Kamel, M. (eds) Image Analysis and Recognition. ICIAR 2010. Lecture Notes in Computer Science, vol 6111. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13772-3_24
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DOI: https://doi.org/10.1007/978-3-642-13772-3_24
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