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Dense 3D Motion Field Estimation from a Moving Observer in Real Time

  • Clemens Rabe
  • Uwe Franke
  • Reinhard Koch
Chapter

Abstract

In this chapter an approach for estimating the three-dimensional motion fields of real-world scenes is proposed. This approach combines state-of-the-art dense optical flow estimation, including spatial regularization, and dense stereo information using Kalman filters to achieve temporal smoothness and robustness. The result is a dense and accurate reconstruction of the three-dimensional motion field of the observed scene. An efficient parallel implementation using a GPU and an automotive compliant FPGA yields a real-time vision system which is directly applicable in real-world scenarios including driver assistance systems, robotics, and surveillance.

Keywords

Computer vision Driver assistance Motion estimation 

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Copyright information

© Springer Science+Business Media New York 2014

Authors and Affiliations

  1. 1.Research and Technology/Machine PerceptionDaimler AGSindelfingenGermany
  2. 2.Multimedia Information ProcessingChristian-Albrechts-Universität zu KielKielGermany

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