An algorithm for obstacle model detection

SUN Qian; YU Xing-yun

doi:10.13873/J.1000-9787(2016)12-0119-03

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An algorithm for obstacle model detection

更新时间：2025-09-11

- An algorithm for obstacle model detection
- Vol. 35, Issue 12, Pages: 119-121(2016)
- 作者机构：
  
  北京工商大学计算机与信息工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2016)12-0119-03
  CLC： TP391.41
- Published：2016
- 稿件说明：
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[1]孙茜,余幸运.一种障碍物模型检测算法[J].传感器与微系统,2016,35(12):119-121.

SUN Qian, YU Xing-yun. An algorithm for obstacle model detection[J]. 2016, 35(12): 119-121.
[1]孙茜,余幸运.一种障碍物模型检测算法[J].传感器与微系统,2016,35(12):119-121. DOI： 10.13873/J.1000-9787(2016)12-0119-03.

SUN Qian, YU Xing-yun. An algorithm for obstacle model detection[J]. 2016, 35(12): 119-121. DOI： 10.13873/J.1000-9787(2016)12-0119-03.

摘要

针对观测场景结构复杂、建模困难的问题

提出了一种基于运动目标跟踪的场景障碍物模型检测方法。结合对目标的检测与跟踪过程

利用空间投影关系确定场景中障碍物的位置

并将其映射到场景模型上

即可得到场景观测模型。该方法只需要对目标运动进行简单地跟踪和统计

不需要进行三维结构恢复以及图像拼接处理

能够有效解决场景的在线自适应建模问题。

Abstract

Aiming at problem of complex observation scene structure and difficulty of modeling

a scene obstacle model detection method is proposed based on moving target tracking. Combined with target detection and tracking

using spatial projection relation to determine position of the obstacles in the scene

and map it onto the scene model

and the scene observation model can be obtained. The method only need simply tracking and statistics of target motion

do not need 3D reconstruction and image matching. It can realize online adaptive modeling of scene effectively.

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Keywords

references

分层的线性迭代三维重建方法 [J]. 张永福,刘侍刚,裘国永,申丰. 传感器与微系统 . 2010(10)

Photometric Stereo with General, Unknown Lighting [J] . Ronen Basri,David Jacobs,Ira Kemelmacher. International Journal of Computer Vision . 2007 (3)

Nonlinearities and Noise Reduction in 3-Source Photometric Stereo [J] . Lyle Noakes,Ryszard Kozera. Journal of Mathematical Imaging and Vision . 2003 (2)

Self-Calibration and Metric Reconstruction Inspite of Varying and Unknown Intrinsic Camera Parameters [J] . Marc Pollefeys,Reinhard Koch,Luc Van Gool. International Journal of Computer Vision . 1999 (1)

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