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2016 (1)

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TCM: A Vision-based Algorithm for Distinguishing Between Stationary and Moving Objects Irrespective of Depth Contrast from a UAS

This paper describes an airborne vision system that is capable of determining whether an object is moving or stationary in an outdoor environment. The proposed method, coined the Triangle Closure Method (TCM), achieves this goal by computing the aircraft's egomotion and combining it with information about the directions connecting the object and the UAS, and the expansion of the object in the image. TCM discriminates between stationary and moving objects with an accuracy rate of up to 96%. Th...
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