Scale Invariant Detection and Tracking of Elongated Structures

Amaury Nègre 1 James L. Crowley 2 Christian Laugier 1
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
2 PRIMA - Perception, recognition and integration for observation of activity
Inria Grenoble - Rhône-Alpes, UJF - Université Joseph Fourier - Grenoble 1, INPG - Institut National Polytechnique de Grenoble , CNRS - Centre National de la Recherche Scientifique : UMR5217
Abstract : This paper describes a method for the detection of tracking of elongated structures that is robust under changes of scale and orientation. This method is based on extending the concept of scale invariant natural interest points to include elongated ridge structures. An operator is proposed that directly detects ridge points and provides an estimation of their elongation and orientation. A tracking process is used to follow elongated features over time and to robustly observe changes in scale and orientation. Changes in scale are used to directly estimate time to contact. Experimental results demonstrate that the method works well in cluttered scenes that are typical of urban environments.
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Conference papers
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https://hal.inria.fr/inria-00335286
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Submitted on : Wednesday, October 29, 2008 - 9:54:20 AM
Last modification on : Friday, January 4, 2019 - 1:23:33 AM
Long-term archiving on : Tuesday, October 9, 2012 - 2:36:03 PM

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Amaury Nègre, James L. Crowley, Christian Laugier. Scale Invariant Detection and Tracking of Elongated Structures. Proc. of the Int. Symp. on Experimental Robotics, Jul 2008, Athenes, Greece. ⟨inria-00335286⟩

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