WO2014092550A3 - Method for camera motion estimation in presence of moving object - Google Patents

Method for camera motion estimation in presence of moving object Download PDF

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Publication number
WO2014092550A3
WO2014092550A3 PCT/MY2013/000264 MY2013000264W WO2014092550A3 WO 2014092550 A3 WO2014092550 A3 WO 2014092550A3 MY 2013000264 W MY2013000264 W MY 2013000264W WO 2014092550 A3 WO2014092550 A3 WO 2014092550A3
Authority
WO
WIPO (PCT)
Prior art keywords
feature points
moving object
correspond
current frame
motion estimation
Prior art date
Application number
PCT/MY2013/000264
Other languages
French (fr)
Other versions
WO2014092550A2 (en
Inventor
Zulaikha BINTI KADIM
Hock Woon Hon
Norshuhada BINTI SAMUDIN
Original Assignee
Mimos Berhad
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mimos Berhad filed Critical Mimos Berhad
Publication of WO2014092550A2 publication Critical patent/WO2014092550A2/en
Publication of WO2014092550A3 publication Critical patent/WO2014092550A3/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/285—Analysis of motion using a sequence of stereo image pairs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30232—Surveillance
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

Abstract

The present invention provides a method of processing sequence of image frames captured through an imaging device. The method comprises extracting feature points from a current frame of the sequence of the image frames; estimating disparity of the feature points; identifying an object from the current frame that occupies a large area of the current frame through the disparity of the feature points; matching feature points between the current image frame and a previous image frame to determine presence of a moving object; filtering out the matched feature points that correspond to the moving object to obtain matched feature points that correspond to background; estimating motion model based on the feature points that correspond to the background.
PCT/MY2013/000264 2012-12-10 2013-12-10 Method for camera motion estimation with presence of moving object WO2014092550A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
MYPI2012005333A MY188908A (en) 2012-12-10 2012-12-10 Method for camera motion estimation with presence of moving object
MYPI2012005333 2012-12-10

Publications (2)

Publication Number Publication Date
WO2014092550A2 WO2014092550A2 (en) 2014-06-19
WO2014092550A3 true WO2014092550A3 (en) 2014-09-12

Family

ID=50179899

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/MY2013/000264 WO2014092550A2 (en) 2012-12-10 2013-12-10 Method for camera motion estimation with presence of moving object

Country Status (2)

Country Link
MY (1) MY188908A (en)
WO (1) WO2014092550A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105654061A (en) * 2016-01-05 2016-06-08 安阳师范学院 3D face dynamic reconstruction method based on estimation compensation

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9449397B2 (en) 2014-10-15 2016-09-20 Caterpillar Inc. Real-time visual odometry system for determining motion of a machine with a range detection unit
US9860553B2 (en) * 2015-03-18 2018-01-02 Intel Corporation Local change detection in video
US9838604B2 (en) * 2015-10-15 2017-12-05 Ag International Gmbh Method and system for stabilizing video frames
CN105354578B (en) * 2015-10-27 2019-05-21 安徽大学 A kind of multiple target object image matching method
CN110689554B (en) * 2019-09-25 2022-04-12 深圳大学 Background motion estimation method and device for infrared image sequence and storage medium
CN116385480B (en) * 2023-02-03 2023-10-20 腾晖科技建筑智能(深圳)有限公司 Detection method and system for moving object below tower crane

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
ALPER YILMAZ ET AL: "Object tracking", ACM COMPUTING SURVEYS, vol. 38, no. 4, 25 December 2006 (2006-12-25), pages 13 - es, XP055053833, ISSN: 0360-0300, DOI: 10.1145/1177352.1177355 *
EVELAND C ET AL: "Background modeling for segmentation of video-rate stereo sequences", COMPUTER VISION AND PATTERN RECOGNITION, 1998. PROCEEDINGS. 1998 IEEE COMPUTER SOCIETY CONFERENCE ON SANTA BARBARA, CA, USA 23-25 JUNE 1998, LOS ALAMITOS, CA, USA,IEEE COMPUT. SOC, US, 23 June 1998 (1998-06-23), pages 266 - 271, XP010291609, ISBN: 978-0-8186-8497-5, DOI: 10.1109/CVPR.1998.698619 *
YINGDI XIE: "Research on a Modified RANSAC and its Applications to Ellipse Detection from a Static Image and Motion Detection from Active Stereo Video Sequences", 1 February 2010 (2010-02-01), pages 1 - 132, XP055124755, Retrieved from the Internet <URL:https://dspace.wul.waseda.ac.jp/dspace/bitstream/2065/34981/3/Honbun-5358.pdf> [retrieved on 20140623] *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105654061A (en) * 2016-01-05 2016-06-08 安阳师范学院 3D face dynamic reconstruction method based on estimation compensation

Also Published As

Publication number Publication date
WO2014092550A2 (en) 2014-06-19
MY188908A (en) 2022-01-13

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