Sparse depth calculation using real-time key-point: Detection and structure from motion for advanced driver assist systems

Charan D. Prakash, Jinjin Li, Farshad Akhbari, Lina Karam

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

This paper presents a system for calculating depth using a single camera with a focus on advanced driver assist systems. The proposed system consists of an improved structure from motion (SfM) approach. First, a novel multi-scale fast feature point detector (MFFPD) is proposed for detecting keypoints in the image in real-time with high accuracy. Secondly, a method is presented for sparse depth calculation at the detected key-points locations using multi-view 3D modeling. The proposed SfM system is capable of processing multiple video frames from a single planar or fisheye camera setup and is resilient to camera calibration parameter drifts. The algorithm pipeline is implemented using OpenCV/C++. Results are presented for sets of images that contain temporal motion and sets that contain lateral motion corresponding, respectively, to views from the front and side video cameras of a car.

Original languageEnglish (US)
Title of host publicationAdvances in Visual Computing - 10th International Symposium, ISVC 2014, Proceedings
EditorsGeorge Bebis, Richard Boyle, Bahram Parvin, Darko Koracin, Ryan McMahan, Jason Jerald, Hui Zhang, Steven M. Drucker, Kambhamettu Chandra, El Choubassi Maha, Zhigang Deng, Mark Carlson
PublisherSpringer Verlag
Pages740-751
Number of pages12
ISBN (Electronic)9783319142487
DOIs
StatePublished - 2014
Event10th International Symposium on Visual Computing, ISVC 2014 - Las Vegas, United States
Duration: Dec 8 2014Dec 10 2014

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8887
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other10th International Symposium on Visual Computing, ISVC 2014
CountryUnited States
CityLas Vegas
Period12/8/1412/10/14

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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    Prakash, C. D., Li, J., Akhbari, F., & Karam, L. (2014). Sparse depth calculation using real-time key-point: Detection and structure from motion for advanced driver assist systems. In G. Bebis, R. Boyle, B. Parvin, D. Koracin, R. McMahan, J. Jerald, H. Zhang, S. M. Drucker, K. Chandra, E. C. Maha, Z. Deng, & M. Carlson (Eds.), Advances in Visual Computing - 10th International Symposium, ISVC 2014, Proceedings (pp. 740-751). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8887). Springer Verlag. https://doi.org/10.1007/978-3-319-14249-4_71