On the use of optical flow for scene change detection and description

Nourani-Vatani, Navid, Borges, Paulo Vinicius Koerich, Roberts, Jonathan M. and Srinivasan, Mandyam V. (2014) On the use of optical flow for scene change detection and description. Journal of Intelligent and Robotic Systems: Theory and Applications, 74 3-4: 817-846. doi:10.1007/s10846-013-9840-8


Author Nourani-Vatani, Navid
Borges, Paulo Vinicius Koerich
Roberts, Jonathan M.
Srinivasan, Mandyam V.
Title On the use of optical flow for scene change detection and description
Journal name Journal of Intelligent and Robotic Systems: Theory and Applications   Check publisher's open access policy
ISSN 0921-0296
1573-0409
Publication date 2014-06-01
Year available 2013
Sub-type Article (original research)
DOI 10.1007/s10846-013-9840-8
Volume 74
Issue 3-4
Start page 817
End page 846
Total pages 30
Place of publication Dordrecht, Netherlands
Publisher Springer
Language eng
Abstract We propose the use of optical flow information as a method for detecting and describing changes in the environment, from the perspective of a mobile camera. We analyze the characteristics of the optical flow signal and demonstrate how robust flow vectors can be generated and used for the detection of depth discontinuities and appearance changes at key locations. To successfully achieve this task, a full discussion on camera positioning, distortion compensation, noise filtering, and parameter estimation is presented. We then extract statistical attributes from the flow signal to describe the location of the scene changes. We also employ clustering and dominant shape of vectors to increase the descriptiveness. Once a database of nodes (where a node is a detected scene change) and their corresponding flow features is created, matching can be performed whenever nodes are encountered, such that topological localization can be achieved. We retrieve the most likely node according to the Mahalanobis and Chi-square distances between the current frame and the database. The results illustrate the applicability of the technique for detecting and describing scene changes in diverse lighting conditions, considering indoor and outdoor environments and different robot platforms.
Keyword Computer vision
Mapping and localization
Mobile robots
Optical flow descriptor
Scene change detection
Q-Index Code C1
Q-Index Status Confirmed Code
Institutional Status UQ
Additional Notes Published online: 25 May 2013.

 
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Created: Wed, 31 Jul 2013, 22:46:46 EST by Debra McMurtrie on behalf of Queensland Brain Institute