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This paper presents a technique for estimating the three-dimensional velocity vector field that describes the motion of each visible scene point (scene flow). The technique presented uses two consecutive image pairs from a stereo sequence. The main contribution is to decouple the position and velocity estimation steps, and to estimate dense velocities using(More)
Building upon recent developments in optical flow and stereo matching estimation, we propose a varia-tional framework for the estimation of stereoscopic scene flow, i.e., the motion of points in the three-dimensional world from stereo image sequences. The proposed algorithm takes into account image pairs from two consecutive times and computes both depth(More)
Disparity map generation is a significant component of vision-based driver assistance systems. This paper describes an efficient implementation of a belief propagation algorithm on a graphics card (GPU) using CUDA (Compute Uniform Device Architecture) that can be used to speed up stereo image processing by between 30 and 250 times. For evaluation purposes,(More)
Performance evaluation of stereo or motion analysis techniques is commonly done either on synthetic data where the ground truth can be calculated from ray-tracing principals, or on engineered data where ground truth is easy to estimate. Furthermore, these scenes are usually only shown in a very short sequence of images. This paper shows why synthetic scenes(More)
—This paper discusses options for testing correspondence algorithms in stereo or motion analysis that are designed or considered for vision-based driver assistance. It introduces a globally available database, with a main focus on testing on video sequences of real-world data. We suggest the classification of recorded video data into situations defined by a(More)
This paper discusses the detection of moving objects (being a crucial part of driver assistance systems) using monocular or stereo-scopic computer vision. In both cases, object detection is based on motion analysis of individually tracked image points (optical flow), providing a motion metric which corresponds to the likelihood that the tracked point is(More)
The paper evaluates three categories of similarity measures: ordering-based (census), gradient-based, and illumination-based cost functions. The performance of those functions is evaluated especially with respect to illumination changes using two different sets of data, also including real world driving sequences of hundreds of stereo frames with strong(More)
Applying real-time segmentation is a major issue when processing every frame of image sequences. In this paper, we propose a modification of the well known graph-cut algorithm to improve speed for discrete segmentation. Our algorithm yields real-time segmentation, using graph-cut, by performing a single cut on an image with regions of different resolutions,(More)
This paper presents a method for the computation of free space in complex traffic scenarios. Dynamic depth information is estimated by integrating stereo disparity images over time. Disparity and disparity speed are computed pixel-wise with Kalman filters. The stereo information is used to compute stochastic occupancy grids. Dynamic programming on a(More)