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A real-time occupancy map from multiple video streams

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2 Author(s)
Hoover, A. ; Dept. of Electr. & Comput. Eng., California Univ., San Diego, La Jolla, CA, USA ; Olsen, B.D.

We describe an algorithm to fuse intensity data from multiple video cameras to create a spatial-temporal occupancy map. The camera layout is assumed to resemble a security video network. The occupancy map is a two-dimensional raster image, uniformly distributed in the floor-plane. Each map pixel contains a binary value, signifying whether the designated floorspace is empty or occupied. Our algorithm requires only one difference and one look-up table operation to determine each pixel's effect upon the map. This brevity of operations allows the spatial occupancy map to be temporally computed at real-time video rates. We demonstrate our algorithm operating in several dynamic scenarios

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:3 )

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