Abstract—This paper deals with the detection of a dynamic
obstacle with the use of a low-cost monocular camera mounted
on a dynamic vehicle. An algorithm has been developed to
integrate feature tracking, Image transformation, and optical
flow. Optical flow method is used to detect a moving obstacle in
a static environment. Camera motion causes the environment to
be dynamic with the point of view of the observer thereby
leading to the failure of optical flow algorithm. The difficulty in
distinguishing the difference between moving and a stationary
body can be overcome with the use of image transformation
technique, which transforms the newly captured image to the
coordinate frame of the previous image. The optical flow
algorithm can now be applied to detect a dynamic obstacle. To
further find the position of the obstacle in 3D space with respect
to the camera, Stereo vision system is used. The developed
algorithm has been tested in a virtual environment using V-rep
and Matlab. The algorithm has also been validated
experimentally with the use of a stereo camera system on a
mobile platform-P3-DX.
Index Terms—Optical flow, feature point matching, first
corner method, image transformation, stereo vision, V-rep,
P3-DX, VICON.
The authors are with Department of Mechanical Enginearing IIT Madras,
Chennai-600036 India (e-mail: sahoo.sudeepta71@gmail.com,
pvm@iitm.ac.in).
Cite: Sudeepta Ranjan Sahoo and P. V. Manivannan, "A Hybrid Approach for Dynamic Observer to Detect and Track Dynamic Obstacles," International Journal of Machine Learning and Computing vol. 10, no. 2, pp. 393-399, 2020.
Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).