Method and apparatus for detecting moving objects in two- and three-dimensional scenes
AssigneeSarnoff Corporation
InventorsPadmanabhan Anandan, Michal Irani
Life of this patent
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Abstract
A method and apparatus for detecting moving objects in both two-dimensional and three-dimensional scenes. The method repetitively applies a two-dimensional transformation to a plurality of images representing a scene to identify misaligned regions within the images. Any residual motion represented by the misaligned regions that may be classified as a moving object within the scene is further processed by a three-dimensional technique that removes parallax motion from the residual motion. The result is motion contained in an epipolar flow field which is only due to a moving object within the scene.
Claims19
A method for detecting object motion within a sequence of images representing a scene, comprising:
- (a) selecting a plurality of images from said sequence of images;
- (b) applying a two dimensional transformation to said plurality of images to align stationery regions of said plurality of images and identify a misaligned region of said plurality of images;
- (c) computing a parallax rigidity constraint that identifies a parallax motion component of the misaligned region;
- and
- (d) processing said parallax motion component to detect a moving object within the scene.
Apparatus for detecting object motion within a sequence of images representing a scene comprising:
- means for selecting a plurality of images from said sequence of images;
- means for applying a two-dimensional transformation to said plurality of images to align regions of said plurality of images and identify a misaligned region of said plurality of images;
- means for computing a parallax rigidity constraint that identifies a parallax motion component of the misaligned region;
- and
- means for processing said parallax motion component to detect a moving object within the scene.
A computer readable medium having stored thereon a plurality of instructions including instructions which, when executed by a processor, cause the processor to perform the steps of:
- (a) selecting a plurality of images from said sequence of images;
- (b) applying a two dimensional transformation to said plurality of images to align stationery regions of said plurality of images and identify a misaligned region of said plurality of images;
- (c) computing a parallax rigidity constraint that identifies a parallax motion component of the misaligned region;
- and
- (d) processing said parallax motion component to detect a moving object within the scene.
Dependencies are inferred from the claim text.