Uncalibrated obstacle detection using normal flow

@article{SantosVictor1996UncalibratedOD,
  title={Uncalibrated obstacle detection using normal flow},
  author={Jos{\'e} Santos-Victor and Giulio Sandini},
  journal={Machine Vision and Applications},
  year={1996},
  volume={9},
  pages={130-137}
}
This paper addresses the problem of obstacle detection for mobile robots. The visual information provided by a single on-board camera is used as input. We assume that the robot is moving on a planar pavement, and any point lying outside this plane is treated as an obstacle. We address the problem of obstacle detection by exploiting the geometric arrangement between the robot, the camera, and the scene. During an initialization stage, we estimate an inverse perspective transformation that maps… CONTINUE READING
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