Harbour images sequence analysis for control and monitoring

A system devoted to ship traffic control in a harbour environment is proposed, where optic flow approach and monocular image sequences are used. In each frame the scene is segmented, moving and still objects are found, and the movement of each ship is completely tracked. Partial and/or total occlusions are correctly handled by means of suitable grouping algorithms. Quantitative motion estimation is obtained by an iterative procedure that extract precise 3D information from the monocular sequence. The implemented version of the system is able to monitor and control a harbour environment with a substantially low computational effort.