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Journal Article

Inverse Perspective Mapping Simplifies Optical Flow Computation and Obstacle Detection

MPS-Authors
http://pubman.mpdl.mpg.de/cone/persons/resource/persons84072

Mallot,  HA
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons83839

Bülthoff,  HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

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.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-EE51-1
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.