Robotics Institute
School of Computer Science, Carnegie Mellon University


Detecting Overtaking Vehicles With Implicit Optical Flow

Parag H. Batavia, Dean A. Pomerleau, Charles E. Thorpe

March 1998

Keywords: Blind spot, optical flow, obstacle detection

We describe an optical flow based obstacle detection system for use in detecting vehicles approaching the blind spot of a car on highways and city streets. The system runs at near frame rate (8-15 frames/second) on PC hardware. We will discuss the prediction of a camera image given an implicit optical flow field and comparison with the actual camera image. The advantage to this approach is that we never explicitly calculate optical flow. We will also present results on digitized highway images, and video taken from Navlab 5 while driving on a Pittsburgh highway. 18 pages

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