Obstacle Detection Using Cross-Ratio and Disparity Velocity

Huiyu Zhou*, Andrew Michael Wallace, Patrick Richey Green

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapter


In this chapter we consider the detection of hazards within the ground plane immediately in front to a moving pedestrian. Consecutive views of the scene are acquired by a standard video camera. Using epipolar constraints between the two views, detected features are matched to compute the camera motion and reconstruct the 3-D geometry. Assuming the ground is planar, projective invariance of the cross-ratio and the presence or absence of significant peaks in a Lomb-Scargle periodogram are used in a region-growing technique to label a triangulated mesh as obstructed or unobstructed ground plane. On the other hand, for a less feature based scene a new disparity velocity based obstacle detection scheme is presented. This scheme can be used to find image points of large disparity estimates and hence single out suspicious obstructed ground points. The experimental work shows the performance of these two algorithms in real image sequences.

Original languageEnglish
Title of host publicationRobot Intelligence
Subtitle of host publicationAn Advanced Knowledge Processing Approach
Number of pages25
ISBN (Electronic)9781849963299
ISBN (Print)9781849963282
Publication statusPublished - 2010

Publication series

NameAdvanced Information and Knowledge Processing
ISSN (Print)1610-3947
ISSN (Electronic)2197-8441

ASJC Scopus subject areas

  • Management Information Systems
  • Information Systems
  • Information Systems and Management
  • Artificial Intelligence


Dive into the research topics of 'Obstacle Detection Using Cross-Ratio and Disparity Velocity'. Together they form a unique fingerprint.

Cite this