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Qualitative Motion Understanding

  • Book
  • © 1992

Overview

Authors:
  1. Wilhelm Burger

    1. Johannes Kepler University, Linz, Austria

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    You can also search for this author in PubMed   Google Scholar

  2. Bir Bhanu

    1. University of California, Riverside, USA

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    You can also search for this author in PubMed   Google Scholar

Part of the book series: The Springer International Series in Engineering and Computer Science (SECS, volume 184)

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Table of contents (9 chapters)

  1. Front Matter

    Pages i-xiii
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  2. Introduction

    • Wilhelm Burger, Bir Bhanu
    Pages 1-8

  3. Framework For Qualitative Motion Understanding

    • Wilhelm Burger, Bir Bhanu
    Pages 9-21

  4. Effects of Camera Motion

    • Wilhelm Burger, Bir Bhanu
    Pages 23-35

  5. Decomposing Image Motion

    • Wilhelm Burger, Bir Bhanu
    Pages 37-79

  6. The Fuzzy Foe

    • Wilhelm Burger, Bir Bhanu
    Pages 81-106

  7. Reasoning about Structure and Motion

    • Wilhelm Burger, Bir Bhanu
    Pages 107-128

  8. The Qualitative Scene Model

    • Wilhelm Burger, Bir Bhanu
    Pages 129-156

  9. Examples

    • Wilhelm Burger, Bir Bhanu
    Pages 157-180

  10. Summary

    • Wilhelm Burger, Bir Bhanu
    Pages 181-183

  11. Back Matter

    Pages 185-210
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Keywords

About this book

Mobile robots operating in real-world, outdoor scenarios depend on dynamic scene understanding for detecting and avoiding obstacles, recognizing landmarks, acquiring models, and for detecting and tracking moving objects. Motion understanding has been an active research effort for more than a decade, searching for solutions to some of these problems; however, it still remains one of the more difficult and challenging areas of computer vision research.
Qualitative Motion Understanding describes a qualitative approach to dynamic scene and motion analysis, called DRIVE (Dynamic Reasoning from Integrated Visual Evidence). The DRIVE system addresses the problems of (a) estimating the robot's egomotion, (b) reconstructing the observed 3-D scene structure; and (c) evaluating the motion of individual objects from a sequence of monocular images. The approach is based on the FOE (focus of expansion) concept, but it takes a somewhat unconventional route. The DRIVE system uses a qualitative scene model and a fuzzy focus of expansion to estimate robot motion from visual cues, to detect and track moving objects, and to construct and maintain a global dynamic reference model.

Authors and Affiliations

  • Johannes Kepler University, Linz, Austria

    Wilhelm Burger

  • University of California, Riverside, USA

    Bir Bhanu

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