Freespace Optical Flow Modeling for Automated Driving

doi:10.1109/TMECH.2023.3300729

	Freespace Optical Flow Modeling for Automated Driving
	Feng, Yi 1,2; Zhang, Ruge 3; Du, Jiayuan 1,2; Chen, Qijun 1,2; Fan, Rui 1,2
	2023-08-18
发表期刊	IEEE-ASME TRANSACTIONS ON MECHATRONICS
ISSN	1083-4435
页码	10
摘要	Optical flow and disparity are two informative visual features for autonomous driving perception. They have been used for a variety of applications, such as obstacle and lane detection. The concept of "U-V-Disparity" has been widely explored in the literature, while its counterpart in optical flow has received relatively little attention. Traditional motion analysis algorithms estimate optical flow by matching correspondences between two successive video frames, which limits the full utilization of environmental information and geometric constraints. Therefore, we propose a novel strategy to model optical flow in the collision-freespace (also referred to as drivable area or simply freespace) for intelligent vehicles, with the full utilization of geometry information in a 3-D driving environment. We provide explicit representations of optical flow and deduce the quadratic relationship between the optical flow component and the vertical coordinate. Through extensive experiments on several public datasets, we demonstrate the high accuracy and robustness of our model. In addition, our proposed freespace optical flow model boasts a diverse array of applications within the realm of automated driving, providing a geometric constraint in freespace detection, vehicle localization, and more. We have made our source code publicly available at https://mias.group/FSOF.
关键词	Optical imaging Cameras Estimation Optical computing Optical flow Mathematical models Geometrical optics Automated driving autonomous driving perception freespace optical flow vehicle localization
DOI	10.1109/TMECH.2023.3300729
收录类别	SCI
语种	英语
资助项目	National Key Ramp;D Program of China
WOS研究方向	Automation & Control Systems ; Engineering
WOS类目	Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号	WOS:001121918700001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计	被引频次：2[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://119.78.100.204/handle/2XEOYT63/38488
专题	中国科学院计算技术研究所期刊论文_英文
通讯作者	Fan, Rui
作者单位	1.Tongji Univ, Coll Elect & Informat Engn, Shanghai Res Inst Intelligent Autonomous Syst, State Key Lab Intelligent Autonomous Syst, Shanghai 201804, Peoples R China 2.Tongji Univ, Frontiers Sci Ctr Intelligent Autonomous Syst, Shanghai 201804, Peoples R China 3.Chinese Acad Sci, Inst Comp Technol, High Performance Comp Res Ctr, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Feng, Yi,Zhang, Ruge,Du, Jiayuan,et al. Freespace Optical Flow Modeling for Automated Driving[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:10.
APA	Feng, Yi,Zhang, Ruge,Du, Jiayuan,Chen, Qijun,&Fan, Rui.(2023).Freespace Optical Flow Modeling for Automated Driving.IEEE-ASME TRANSACTIONS ON MECHATRONICS,10.
MLA	Feng, Yi,et al."Freespace Optical Flow Modeling for Automated Driving".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):10.