Abstract: At present,feature-based method is used to detect vehicles and pedestrians of panorama images,can not avoid all the threats of obstacles to driving.Different from the method above,we detected all the obstacles taller than the ground plane using motion-based method.First,we built the vehicle motion model,then deducd the relation-ship of vehicle motion,obstacle height and pixel optical-flow.Taking advantage of the fact that vertical views of adjacent cameras overlap each other and obstacle points in overlapping region have two different optical flows,we detected obstacles in intersection areas,fastened the solving of optimal motion parameters.At last,we detected all the obstacles using the motion compensated image.The vehicle experiments on the road demonstrate that the method proposed by us can detect all the obstacles taller than the ground effectively when vehicles are on the flat road.

Key words: Vehicle around view system,Inverse projection transformation,Optical-flow,Ego-motion estimation