Motion Language of Stereo Image Sequence

Tomoya Kato, Hayato Itoh, Atsushi Imiya
2017 2017 IEEE Conference on Computer Vision and Pattern Recognition Workshops (CVPRW)  
This paper proposes a method for the symbolisation of temporal changes of the environments around the autonomous robot in a work space using the scene flow field for recognition of events. We first develope a two-phase method for the accurate computation of the scene flow field. Next, we introduce an algorithm to symbolises the motion fields as a string of words using directional statistics. These two operations extract a string of words of motion in front of the robots from stereo images
more » ... ed by a robot-mounted camera system. We evaluate performance of our method using KITTI scene flow Dataset 2015. The results shows the efficiency of the method for the extraction of events in front of a robot.
doi:10.1109/cvprw.2017.160 dblp:conf/cvpr/KatoII17 fatcat:26md73nm7bcazgabhpusuhy2tq