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中文摘要：
将基于因子分解的运动估计结构（structure from motion，SFM）算法延伸至室外环境障碍物检测，提出了一种基于单相机的障碍物检测方法．通过图像序列特征点的匹配和跟踪，运用基于因子分解的运动估计结构算法得到场景的投影重建；通过满足绝对二次曲面（dual absolute quaclric，DAQ）约束的自标定升级至欧式重建，同时得到相机的运动；通过将图像分割为等面积的区域，每个独立的区域通过从欧氏重建得到的深度信息来区分是障碍物还是背景．室外真实场景的实验结果表明，该方法能够在室外环境下获得比较好的障碍物检测效果．
英文摘要：
By extending the factorization methods for the structure from motion （SFM） to the obstacle detection in outdoor scenes, a novel obstacle detection method based on a single camera was presented. After the feature points in the image sequence were extracted and tracked, the projective structure was obtained from the factorization-based SFM estimation algorithm. Then the self-calibration based on dual absolute quadric （DAQ） was used to determine the internal parameters of the camera in order to recover the camera motion and upgrade the projective structure to the metric structure. Finally, the image was segmented into regions with the same size. Each individual region was classified as belonging to either an obstacle or the background based on its depth information gained from Euclidean reconstruction. Experimental results in real outdoor scene show that this method can effectively detect obstacles.
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