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The Bayesian occupancy filter (BOF) (Coue et al., 2002) has achieved promising results in the object tracking applications. This paper presents a new development of BOF which inherits original BOF's advantages. Meanwhile, the new formulation has significantly reduced original BOF's complexities and can be run in realtime. In Bayesian occupancy filter, the environment is finely divided into 2-dimensional...
Despite their popularity, occupancy grids cannot be directly applied to problems where the identity of the objects populating an environment needs to be taken into account (e.g., object tracking, scene interpretation, etc.), in this cases it is necessary to postprocess the grid in order to extract object information. This paper approaches the problem by proposing a novel algorithm inspired on image...
In this paper, we propose a real-time method to detect obstacles using theoretical models of optical flow fields. The idea of our approach is to segment the image in two layers: the pixels which match our optical flow model and those that do not (i.e. the obstacles). In this paper, we focus our approach on a model of the motion of the ground plane. Regions of the visual field that violate this model...
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