Mallot H A, Bülthoff H H, Little J J, Bohrer S
Institut für Neuroinformatik, Ruhr-Universität, Bochum, Federal Republic of Germany.
Biol Cybern. 1991;64(3):177-85. doi: 10.1007/BF00201978.
We present a scheme for obstacle detection from optical flow which is based on strategies of biological information processing. Optical flow is established by a local "voting" (non-maximum suppression) over the outputs of correlation-type motion detectors similar to those found in the fly visual system. The computational theory of obstacle detection is discussed in terms of space-variances of the motion field. An efficient mechanism for the detection of disturbances in the expected motion field is based on "inverse perspective mapping", i.e., a coordinate transform or retinotopic mapping applied to the image. It turns out that besides obstacle detection, inverse perspective mapping has additional advantages for regularizing optical flow algorithms. Psychophysical evidence for body-scaled obstacle detection and related neurophysiological results are discussed.
我们提出了一种基于生物信息处理策略的光流障碍物检测方案。光流通过对类似于果蝇视觉系统中相关类型运动探测器的输出进行局部“投票”（非极大值抑制）来建立。从运动场的空间方差角度讨论了障碍物检测的计算理论。一种用于检测预期运动场中干扰的有效机制基于“逆透视映射”，即应用于图像的坐标变换或视网膜拓扑映射。结果表明，除了障碍物检测外，逆透视映射在规范光流算法方面还有其他优势。讨论了身体尺度障碍物检测的心理物理学证据和相关的神经生理学结果。
