The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We describe an optical flow based obstacle detection system for use in detecting vehicles approaching the blind spot of a car on highways and city streets. The system runs at near frame rate (8-15 frames/second) on PC hardware. We will discuss the prediction of a camera image given an implicit optical flow field and comparison with the actual camera image. The advantage to this approach is that we never explicitly calculate optical flow. We will also present results on digitized highway images, and video taken from Navlab 5 while driving on a Pittsburgh highway.

Keywords

optical flow, vehicle detection

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Associated Lab(s) / Group(s): NavLab

Text Reference

Parag Batavia, Dean Pomerleau, and Chuck Thorpe, "Detecting Overtaking Vehicles With Implicit Optical Flow," tech. report CMU-RI-TR-97-28, Robotics Institute, Carnegie Mellon University, 1997

BibTeX Reference

@techreport{Batavia_1997_548,
   author = "Parag Batavia and Dean Pomerleau and Chuck Thorpe",
   title = "Detecting Overtaking Vehicles With Implicit Optical Flow",
   booktitle = "",
   institution = "Robotics Institute",
   year = "1997",
   number= "CMU-RI-TR-97-28",
   address= "Pittsburgh, PA",
}

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