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Proceedings International Workshop on Mobile Mapping Technology

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fullscreen: Proceedings International Workshop on Mobile Mapping Technology

Monograph

Persistent identifier:: 856671290

Author:: Li, Rongxing

Title:: Proceedings International Workshop on Mobile Mapping Technology

Sub title:: April 21 - 23, 1999, Bangkok, Thailand

Scope:: 1 Online-Ressource (Getr. Zählung [ca. 400 Seiten])

Year of publication:: 1999

Place of publication:: London

Publisher of the original:: RICS Books

Identifier (digital):: 856671290

Illustration:: Illustrationen, Diagramme, Karten

Language:: English

Usage licence:: Attribution 4.0 International (CC BY 4.0)

Publisher of the digital copy:: Technische Informationsbibliothek Hannover

Place of publication of the digital copy:: Hannover

Year of publication of the original:: 2016

Document type:: Monograph

Collection:: Earth sciences

Chapter

Title:: [Poster Session (2) on Imaging Sensing (ARIDA)]

Document type:: Monograph

Structure type:: Chapter

Chapter

Title:: A Comparative Study on Techniques for Optical Flow Estimation : On the Application to Vehicle Motion Analysis. Takashi FUSE and Eihan SHIMIZU.

Document type:: Monograph

Structure type:: Chapter

Proceedings International Workshop on Mobile Mapping Technology
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Title page
Title page
Proceedings of International Workshop on Mobile Mapping Technology April 21-23, 1999, Maruay Garden Hotel, Bangkok, Thailand
Greeting from Bangkok.
PREFACE.
On behalf of the International Association of Geodesy (IAG) Working Group [...]
TECHNICAL PROGRAM.
[Session 1: Mobile Mapping (1)]
A ROBUST METHOD FOR REGISTERING 2.5D LASER RANGE IMAGES OF URBAN OBJECTS. Huijing ZHAO, Ryosuke SHIBASAKI.
AN INTELLIGENT MOBILE MAPPING SYSTEM. Naser El-Sheimy, Mike Chapman, and C. Tao.
A Mobile Mapping System Based on GPS, GIS and Multi-sensor. Deren Li.
AIRPORT DATA BASIS FOR TAGSY GUIDANCE SYSTEMS. W. Möhlenbrink, R. Bettermann.
INTEGRATING TECHNOLOGIES: DGPS, DEAD RECKONING AND MAP MATCHING. T. A. Hailes.
[Session 2: Mobile Mapping (2)]
FILTERALGORITHMS FOR OPTIMAL DETERMINATION OF POSITION AND ATTITUDE OF THE MOBILE MAPPING SYSTEM KISS. H. Sternberg, W. Caspary and H. Heister.
DEVELOPMENT OF AN INTEGRATED SYSTEM FOR MAPPING ROAD WIDTH USING DIGITAL VIDEO AND GLOBAL POSITIONING SYSTEM. Shanmugam Ganeshkumar, Kiyoshi HONDA, Shunji MURAI.
DIRECT PLATFORM ORIENTATION IN AERIAL AND LAND-BASED MAPPING PRACTICE. Dorota A. Grejner-Brzezinska, Charles K. Toth and Edward Oshel.
TOWARDS AUTOMATED PROCESSING OF MOBILE MAPPING IMAGE SEQUENCES. C. Tao, M. A. Chapman, and N. El-Sheimy, B. Chaplin.
[Poster Session (1) on Airborne & Spaceborne Remote Sensing (JARS)]
Generation of Digital Elevation Model derived from JERS1 SAR Interferometry. Mitsuharu TOKUNAGA.
GENERALIZATION TECHNIQUES FOR LAYERED NEURAL NETWORKS IN THE CLASSIFICATION OF REMOTELY SENSED IMAGES. Eihan SHIMIZU and Morito TSUTSUMI, Le Van TRUNG.
THE CRANES' NESTING ANALYSIS USING GIS - LANDSCAPE ECOLOGICAL APPLICATIONS -. Koichi HIRATA, Hiroshi MURAKAMI.
INTERPRETABILITY OF GEOGRAPHIC INFORMATION FROM HIGH RESOLUTION SATELLITE IMAGES. Toshiaki Hashimoto.
Reassessment of Todaro's Migration Model to Incorporate Socioeconomic and Natural Resource Environment by Using Remote Sensing and GIS: A Case of Thailand. Bhuwneshwar Prasad SAH, Eihan SHIMIZU and Morito TSUTSUMI.
LAND COVER OF ASIA. Ryutaro Tateishi.
Development of Drain Direction Model based onGTOPO30 and Global Data Sets. Shiro Ochi and Ryosuke Shibasaki.
[Session 3: Kinematic Real-time Positioning]
Positioning Principles and Accuracy of Airborne Laser- Ranging & Multispectral-lmaging Mapping System. Liu Shaochuang, You Hongjian, Xiang Maosheng, Liu Tong, Li Shukai.
Accuracy Assessment and Improvement for Level Survey using Real Time Kinematic (RTK) GPS. Dinesh Manandhar, Kiyoshi Honda, Shunji Murai, Sachio Kubo, Masahiro Yonemura.
Airborne Mapping System with GPS-supported Aerotriangulation. Deren Li, Xiuxiao Yuan.
[Session 4: Sensor Integration and Calibration]
The Calibration of Imaging Sensors Integrated into a Rapid Route Mapping System. C. S. Fraser, A. M. Judd.
CALIBRATING A ZOOM LENS CCD CAMERA FOR A TERRESTRIAL IMAGE BASED SURVEY SYSTEM. Y. D. Huang and D. Chen.
METHOD FOR ACCURATE CAMERA ORIENTATION FOR AUTOMOBILE PHOTOGRAMMETRIC SYSTEM. V. A. Knyaz, S. Yu. Zheltov.
MULTI-SENSOR MAP MATCHING CONCEPTS FOR POSITIONING OF ROAD AND RAIL VEHICLES. R. Czommer, W. Möhlenbrink.
SENSOR INTEGRATION AND CALIBRATION OF DIGITAL AIRBORNE THREE-LINE CAMERA SYSTEMS. Michael Cramer, Dirk Stallmann and Norbert Haala.
[Session 5A: Applications (1)]
Application of Photogrammetric Image Data for Roadway Construction. Guangping He.
SURVEYING AND MAPPING OF URBAN STREETS BY PHOTOGRAMMETRIC TRAVERSE. A. R. SILVA, J. C. BATISTA, R. A. OLIVEIRA, P. O. CAMARGO and J. F. C. SILVA.
[Session 5B: Real-time Imaging (ARIDA)]
ESTIMATION OF ACCURACY OF AIRBORNE LASER PROFILING. Koukichi Kimura, Teruvoshi Fujiwara, Yukihide Akiyama.
CRACK SITUATION GRASP OF DIGITAL IMAGE METHOD. Tatuhide NAKANE, Hisasi TAKAGI, Masaharu OZAWA.
Mobile Mapping Technologies for Safety Driving Assistance in ITS. Yutaka Shimogaki, Tooru Kitagawa, Yoshiki Yamano, Katunori Takahashi.
[Session 6A: Applications (2)]
Virtual Reality Model Created from Mobile Mapping Data as Interface to GIS. Krzysztof Gajdamowicz.
IMPROVED DEM EXTRACTION TECHNIQUES - COMBINING LIDAR DATA WITH DIRECT DIGITAL GPS/INS ORIENTED IMAGERY. Charles K. Toth and Dorota A. Grejner-Brzezinska.
Focal Plane Image Assembly of Subpixel. Si-Dong Zhong, Tian chan Mei.
[Session 6B: Real-time Imaging (ARIDA)]
A Tracking System for Construction vehicles with DGPS and RTK-GPS. Shun'ichi OHTSU, Tomonori TAKADA, Tatsunori SADA.
A METHOD OF ROAD REPRESENTATION IN 3D MAPPING TECHNOLOGY. Tsukasa Hosomura.
Fundamental Study on Ground-Based Sensor Integration for Spatial Data Acquisition. Mitsunori YOSHIMURA, Tetsuji ANAI, Hirofumi CHIKATSU, Ryosuke SHIBASAKI.
Fundamental Study on Development and Application of the Local Positioning System using Accelerometer and Gyroscope. Toshio KOIZUMI, Yasuyuki SHIRAI, Atsuro TAKEMOTO.
[Poster Session (2) on Imaging Sensing (ARIDA)]
THE METHOD OF Field INVESTIGATIONS USING DIGITAL IMAGE. Toshiaki Taguchi, Kosuke Tsuru, Hirofumi Chikatsu.
PERFORMANCE OF ARTIFICIAL RETINA CAMERA AND ITS APPLICATION. Yoichi KUNII, Hirofumi CHIKATSU.
MOTION ANALYSIS ON THE CONSTRUCTION PLANT USING SEQUENTIAL IMAGES. Sosuke YOSHIDA, Hirofumi CHIKATSU.
AUTO-TRACKING AND 3D MEASUREMENT FOR MOVING OBJECT USING VIDEO THEODOLITE. Tsutomu KAKIUCHI, Hirofumi CHIKATSU.
Generation of 3D View Map Using by Raster Base Data Processing. Kunihiko Ono, Shunji Murai, Vivarad Phonekeo and Shigetaka Yasue.
REMAPPING OF HISTORICAL MAPS USING MATHEMATICAL MORPHOLOGY AND ITS APPLICATION. Nobuhiro YAMADA, Hirofumi CHIKATSU.
A Comparative Study on Techniques for Optical Flow Estimation : On the Application to Vehicle Motion Analysis. Takashi FUSE and Eihan SHIMIZU.
Dynamic Analysis of Human Motion using Digital Video Camera mounted on Video Theodolite. Tetsuji ANAI, Hirofumi CHIKATSU.
A New Measurement System of Settlement At Airports Using GPS and Laser Level. Bunji Shigematsu.
[Session 7A: Automatic Object Extraction and Recognition]
INTEGRATION OF FEATURE AND SIGNAL MATCHING FOR OBJECT SURFACE EXTRACTION. Pakom Apaphant, James Bethel.
FEATURE EXTRACTION FROM MOBILE MAPPING IMAGERY SEQUENCES USING GEOMETRIC CONSTRAINTS. Fei Ma and Ron Li.
A MULTILAYER HOPFIELD NEURAL NETWORK FOR 3-D OBJECT RECOGNITION. Zhuowen Tu and Ron Li.
DATABASE GUIDED VERIFICATION AND UPDATING OF TRANSPORTATION OBJECTS WITH VERTICAL LINE FEATURES FROM MOBILE MAPPING IMAGE SEQUENCES. C. Tao.
Traffic Sign Detection from Image Sequences. W. B. Tong, J. Y. Hervé, P. Cohen.
ROBUSTNESS TEST TO OBJECT POSITIONING IN PROJECTIVE SPACE. Xingwen Wang, Deren Li.
[Session 7B: Mobile Mapping for Spatial Data Acquisition]
AUTOMATIC MEASUREMENT OF ROAD WIDTHS IN COLOUR STEREO SEQUENCES ACQUIRED BY A MOBILE MAPPING SYSTEM. Krzysztof Gajdamowicz.
Wearable Computing, Wireless Communication & Knowledge Discovery for Mobile Data Acquisition & Analysis. Klaus Brinkkötter-Runde and Ubbo Visser.
Development of a Low-Cost DGPS/DR System for Vehicle Tracking. Xiufeng He, Thor I. Fossen and Yongqi Chen.
OFF Method and Its Practice on Airborne GPS Data Processing for Photogrammetry. Chen Xiaoming, Liu Jiyu, Li Deren.
List of Registered Participants
Cover

Full text

A ®n*al,1587 ) 
Stlmate s optical 
uatl °ns obtained 
la § e as a system 
^nations are 
r M- More 
^ s ystem to 
ation equations. 
)e equal to nxn 
' P ixe l in small 
We can get „» 
'ermineti linear 
small temporal 
ve can obtain n 
straints metbob 
overdetermined 
ares solution in 
nethod. 
2.3 Imposition of the Smoothness Condition 
Another approach of solving the gradient constraint 
equation is imposition ofcondition, that is; 
(a) spatial smoothness of optical flow (spatial global 
optimization method) (Barron, Fleet and Beauchemin, 
1994, Beauchemin and Barron, 1997, Horn and 
Schunck, 1981, Schunck, 1984); 
(b) temporal smoothness (temporal global optimization 
method); 
(c) their combination. 
One way to express the additional condition is to minimize 
the square of the magnitude of the gradient of the optical 
flow velocity: 
du 
dx 
du 
dy 
— and 1 — 1 + 
dv 
dx 
' dv 
The total error, E, to be minimized as 
X y 
/ 
(9) 
+ a 
du 
dx 
2 ( du ' 2 
dy 
dv N 
2 \ 
(10) 
The minimization is to be accomplished by finding suitable 
values for the optical flow velocity (u, v). Using the 
calculus of variation, following equations are obtained. 
I x 2 u + I x I y v = a 2 W 2 u - I x I t 
I x I y u + I x 2 v - a 2 V 2 v - I y I t 
(11) 
However, it would be very costly to solve these equations 
simultaneously by one of the methods, such as Gauss- 
Jordan elimination. So, these equations should be solved 
by iterative method that is Gauss-Seidel method. 
In the temporal optimization method, smoothness 
condition is expressed as 
(12) 
The total error is minimized in the same way as spatial 
global optimization method. 
3. EXPERIMENTS 
In this chapter, various gradient-based approaches 
described in Chapter 2 are applied to real sequential 
images of traffic scene. The size of the frame in the 
sequential images is 720 by 480 pixels. And time interval 
is 1/30 second. Figure 1 shows the frame of sequential 
images used in the optical flow estimation. The vehicles 
in Figure 1 move from upper right to bottom left. 
Velocities of the vehicles in this image were measured, and 
the results were about (1) 20 pixels/frame, (2) 3 
pixels/frame and (3) 2 pixels/frame, respectively. These 
values were used as measurements for comparison among 
the several gradient-based approaches. 
Figure 1: Image of Traffic Scene. 
Spatial neighborhood was defined as 5 by 5 pixels, and 
temporal neighborhood was defined as 3 frames. A 
constant optical flow over these neighborhoods was 
assumed. In global optimization method, iterative 
number was 100, and coefficient a was defined as 100. 
Figure 2 through Figure 9 show optical flow estimated by 
each method at a frame. Estimated optical flow is 
depicted as segment at an interval of 20 pixels, and the 
length of segments is ten times as long as estimated value. 
Figure 2 shows the result which was solved by spatial local 
optimization method. The magnitude of one of the 
estimated flow vectors in each vehicle was (1) 6.4 
pixels/frame, (2) 2.0 pixels/frame and (3) 1.5 pixels/frame, 
respectvely. While there were precise flow vectors in the 
vehicles (2), (3), even in the same vehicles flow vectors 
could not be obtained at many pixels. This problem will 
be described later. In the vehicle (1), there were many 
flow vectors, however inaccurate flow vectors were 
included. 
Figure 2: Spatial Local Optimization Method.

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