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  Inverse Perspective Mapping Simplifies Optical Flow Computation and Obstacle Detection

Mallot, H., Bülthoff, H., Little, J., & Bohrer, S. (1991). Inverse Perspective Mapping Simplifies Optical Flow Computation and Obstacle Detection. Biological Cybernetics, 64(3), 177-185. doi:10.1007/BF00201978.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-EE51-1 Version Permalink: http://hdl.handle.net/21.11116/0000-0006-1175-3
Genre: Journal Article

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Mallot, HA, Author              
Bülthoff, HH1, Author              
Little, J, Author
Bohrer, S, Author
Affiliations:
1External Organizations, ou_persistent22              

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 Abstract: We present a scheme for obstacle detection from optical flow which is based on strategies of biological information processing. Optical flow is established by a local ldquovotingrdquo (non-maximum suppression) over the outputs of correlation-type motion detectors similar to those found in the fly visual system. The computational theory of obstacle detection is discussed in terms of space-variances of the motion field. An efficient mechanism for the detection of disturbances in the expected motion field is based on ldquoinverse perspective mappingrdquo, i.e., a coordinate transform or retinotopic mapping applied to the image. It turns out that besides obstacle detection, inverse perspective mapping has additional advantages for regularizing optical flow algorithms. Psychophysical evidence for body-scaled obstacle detection and related neurophysiological results are discussed.

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 Dates: 1991-01
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1007/BF00201978
BibTex Citekey: 713
 Degree: -

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Title: Biological Cybernetics
  Other : Biol. Cybern.
Source Genre: Journal
 Creator(s):
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Publ. Info: Berlin : Springer
Pages: - Volume / Issue: 64 (3) Sequence Number: - Start / End Page: 177 - 185 Identifier: ISSN: 0340-1200
CoNE: https://pure.mpg.de/cone/journals/resource/954927549307