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ATTN: AMSTA-O
Warren, MI 48397-5000
Technical Category:
Special session: Military Applications and Current Research
Contact author
Yi Lu Murphey
Department of Electrical and Computer Engineering
The University of Michigan-Dearborn
Dearborn, MI 48128-1491
Voice: 313-593-4520
Fax: 313-593-9967
yilu@umich.edu
Abstract
Many military applications require the distance
information from a moving vehicle to targets from
video image sequences. For indirect driving, lack of
perception of depth in view hinders steering and
navigation. In this paper we present a real-time
depth detection system DepthFinder, a system that
finds the distances of objects through a monocular
vision model. DepthFinder can be used with a
camera mounted either at the front or side of a
moving vehicle. A real-time matching algorithm is
introduced to improve the matching performance by
several orders of magnitude. The experiment results
and the performance analysis are presented in the
paper.
Introduction
=
D1 I1
H
R
= 2
I2
D2
where f is the focal length of the camera lens. From
these equations, we have,
D (D + H )
R2 = 1 2
L
(2)
H ( D2 D1 )
where L = R1 R2 is the distance that the vehicle has
moved during the time period that the two image
frames are captured and D2 D1 is the disparity
between the two images taken at time t1 and t2. Due
H
P
O1
O2
R1
R2
I1
I2
O2
1
I2
D2
I1 and I2 should be very close.
O1
I1
D1
D2
D1
Image I1
Region
Centerd at
Pixel:
Image I2
Center Pixel
(12, y):
10
11
12
13
14
15
16
...
10
11
12
13
14
15
16
...
(13, y):
10
11
12
13
14
15
16
...
10
11
12
13
14
15
16
...
(14, y):
10
11
12
13
14
15
16
...
10
11
12
13
14
15
16
...
(10, 10') + (11, 11') + (12, 12') + (13, 13') + (14, 14')
(11, 11') + (12, 12') + (13, 13') + (14, 14') + (15, 15')
(12, 12') + (13, 13') + (14, 14') + (15, 15') + (16, 16')
Figure 3: Example of calculating (ui , vi ) for 3 regions centered at pixels (12,y), (13,y), and (14,y)
respectively. The region size is q = 5, q = 1, and ui = vi = 0 is fixed. Note that each row of pixels in
the figure is the same row (y) of the image; however, the region has shifted.
Vehicle
Depth of Object #1
Depth of Object #2
Depth of Object #3
L
Speed Lens Type (feet)
(People)
(Pole)
(Tree)
(mph)
measuredcalculatedDeviatio Measuredcalculateddeviation measuredcalculateddeviation
n
15 narrow-angle 6.5
166
152
8.4%
470
444
5.5%
350
292
16.6%
25 narrow-angle 7.3
166
168
1.2%
470
464
1.3%
350
304
13.1%
15 wide-angle 17.5 166
144
13.3%
250
280
12%
350
320
8.6%
25 wide-angle 18.2 166
172
3.6%
250
256
2.4%
350
328
6.3%
35 wide-angle 17.0 166
152
8.4%
250
244
2.4%
350
300
14.3%
Acknowledgment
References
[1] Juyang Weng, Thomas S. Huang, Narendra
Ahuja, Motion and Structure from Image
Sequences, Springer-Verlag, 1993
[2] Yi Lu et al., Dyta: An Intelligent System for
Moving Target Detection, International
Conference on Image Analysis and Processing,
Sept. 1999
[3] Arun K. Dalmia and Mohan Trivedi, Depth
extraction using a single moving camera: an
integration of depth from motion and depth
from
stereo,
Machine
Vision
and
Applications, Vol.9, pp. 43-55, 1996.