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首页> 外文会议>Unmanned Systems Technology IX; Proceedings of SPIE-The International Society for Optical Engineering; vol.6561 >On-The-Move Independently Moving Target Detection
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On-The-Move Independently Moving Target Detection

机译：动态独立移动目标检测

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This paper describes a system for automatically detecting potential targets (that pop-up or move into view) and to cue the operator to potential threats. Detection of independently moving targets from a moving ground vehicle is challenging due to the strong parallax effects caused by the camera motion close to the 3D structure in the environment. We present a 3D approach for detecting and tracking such independently moving targets with multiple monocular cameras. In our approach, we first recover the camera position and orientation by employing a visual odometry method. Next, using multiple consecutive frames with the estimated camera poses, the structure of the scene at the reference frame is explicitly recovered by a motion stereo approach, and corresponding optical flow fields between the reference frame and other frames are also estimated. Third, an advanced filter is designed by combining second order differences between 3D warping and optical flow warping to distinguish the moving object from parallax regions. We present results of the algorithm on data collected with an eight-camera system mounted on a vehicle under multiple scenarios that include moving and pop-up targets.
机译：本文介绍了一种系统，该系统可自动检测潜在目标（弹出或移入视野）并提示操作员潜在威胁。由于在环境中靠近3D结构的摄像机运动会导致强烈的视差效应，因此从移动的地面车辆中检测独立移动的目标具有挑战性。我们提出了一种3D方法，用于使用多个单眼相机检测和跟踪此类独立移动的目标。在我们的方法中，我们首先通过视觉测距法恢复相机的位置和方向。接下来，使用具有估计的相机姿态的多个连续帧，通过运动立体方法显式恢复参考帧处的场景结构，并且还估计参考帧与其他帧之间的相应光流场。第三，通过组合3D扭曲和光流扭曲之间的二阶差异来设计高级滤波器，以将运动对象与视差区域区分开。我们介绍了在包括移动目标和弹出目标在内的多种情况下，使用安装在车辆上的八摄像头系统收集的数据的算法结果。

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