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An Efficient Way to Estimate the Focus of Expansion
School of Computer Science, Nanjing University of Posts and Telecommunications Nanjing City, China.
University of Skövde, School of Engineering Science. University of Skövde, The Virtual Systems Research Centre. (Produktion och automatiseringsteknik, Production and Automation Engineering)
2018 (English)In: 2018 3rd IEEE International Conference on Image, Vision and Computing (ICIVC 2018), IEEE, 2018, p. 691-695Conference paper, Published paper (Refereed)
Abstract [en]

Detecting independent motion from a single camera is a difficult task in computer vision. It is because the captured image sequences are the combinations of the objects' movements and the camera's ego-motion. One major branch is to find the focus of expansion (FOE) instead as the goal. This is ideal for the situation commonly seen in UAV's camera system. In this case, the translation is dominant in camera's motion while the rotation is relatively small. To separate the ego motion and scene structure, many researchers used the directional flow as the theoretic basis and extracted its properties related to FOE. In this paper, we formulate finding FOE as an optimizing problem. The position of FOE has the minimal standard deviation for the directional flow in all directions, which is also subjected to the introduced constraint. The experiments show the proposed methods out-perform the previous method.

Place, publisher, year, edition, pages
IEEE, 2018. p. 691-695
Keywords [en]
focus of expansion, directional flow, independent motion detection
National Category
Robotics
Research subject
Production and Automation Engineering; INF201 Virtual Production Development
Identifiers
URN: urn:nbn:se:his:diva-16399DOI: 10.1109/ICIVC.2018.8492881ISI: 000448170000136Scopus ID: 2-s2.0-85056554769ISBN: 978-1-5386-4992-3 (print)ISBN: 978-1-5386-4991-6 (electronic)ISBN: 978-1-5386-4990-9 (electronic)OAI: oai:DiVA.org:his-16399DiVA, id: diva2:1263338
Conference
2018 3rd IEEE International Conference on Image, Vision and Computing (ICIVC 2018), Chongqing, China, June 27-29, 2018
Available from: 2018-11-15 Created: 2018-11-15 Last updated: 2019-02-05Bibliographically approved

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Ericson, Stefan

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf