Motion Analysis from a Moving Platform

Geometry of Vanishing Points and Its Application for Fast Calibration

Pseudo-realtime Activity Detection for Railroad Grade Crossing Safety

Geometry of Vanishing Points and Its Application for Fast Calibration

  • Easy calibration from 4 points! (two pairs of parallel lines).
  • Realtime pose estimation for urban flight.

    • Experimental results:


    Click here for the resulting video clip.

    Publication:

  • Z. Kim, "Geometry of Vanishing Points and its Application to External Calibration and Realtime Pose Estimation", Institute of Transportation Studies, Research Reports, Paper UCB-ITS-RR-2006-5, July 1, 2006. [PDF file]

    • Pseudo-realtime Activity Detection for Railroad Grade Crossing Safety

    Is RANSAC good enough? RANSAC's scoring functions cannot detect reprojection errors (cyan boxes)! Peudo-realtime moving object detection from moving platform: iterative ego-motion estimation + detecting "consistent inconsistency"

    Publications:

  • Z. Kim and T.E.Cohn, "Pseudo-realtime Activity Detection for Railroad Grade Crossing Safety", IEEE Trans. Intelligent Transportation Systems, vol. 5, no. 4, pp. 319-324, 2004. [PDF]
  • Z. Kim and T.E.Cohn, "Pseudo-realtime Activity Detection for Railroad Grade Crossing Safety", Proc. IEEE Intelligent Transportation Systems Conference, 2003. [PDF]

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