제어로봇시스템학회:학술대회논문집
- 2005.06a
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- Pages.2393-2396
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- 2005
Moving Vehicle Segmentation from Plane Constraint
- Kang, Dong-Joong (Dept. of Mechatronics Eng., Tongmyong University of Information Technology) ;
- Ha, Jong-Eun (Dept. of Multimedia Eng., Tongmyong University of Information Technology) ;
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Kim, Jin-Young
(Dept. of Mechatronics Eng., Tongmyong University of Information Technology) ;
- Kim, Min-Sung (Dept. of Information & Communication Eng., Tongmyong University of Information Technology) ;
- Lho, Tae-Jung (Dept. of Mechatronics Eng., Tongmyong University of Information Technology)
- Published : 2005.06.02
Abstract
We present a method to detect on-road vehicle using geometric invariant of feature points on side planes of the vehicle. The vehicles are assumed into a set of planes and the invariant from motion information of features on the plane segments the plane from the theory that a geometric invariant value defined by five points on a plane is preserved under a projective transform. Harris corners as a salient image point are used to give motion information with the normalized correlation centered at these points. We define a probabilistic criterion to test the similarity of invariant values between sequential frames. Experimental results using images of real road scenes are presented.