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Estimation of Optical Flow Fields

In order to determine the OF field from which Figure 5 has been cropped, the approach described in [Otte & Nagel 95] has been employed. Based on the assumption that the recording camera remains stationary with respect to the road background, all OF vectors whose magnitude is smaller than a threshold (about 0.3 pixel per halfframe in this case) have been suppressed. This heuristic yields a clean basis for the subsequent clustering step.

Figure 5: Estimation of Optical Flow Fields

HHN (Karlsruhe): Conceptual Descriptions from Image Sequences (Dec. 16, 1996)