Abstract: A method for estimation of motion in a series of images captured by an image sensor comprising an estimation of motion vectors at a plurality of points from an image by an operation, done at each of the points from the plurality of points, of minimization of a functional of motion vectors comprising the sum of a data term and a regulation term, where the data term is made up of the product of a weighting term which is a function of the degree of regularity of the estimated motion vectors and a data linkage term which is a function of the spatial-temporal gradients of the brightness near points located in a neighborhood of a point, where the regulation term supplies a result to the minimization operation for the points near which the minimization of the data term does not allow estimating a unique solution.

Abstract: A method for estimation of motion in a series of images captured by an image sensor comprising an estimation of motion vectors at a plurality of points from an image by an operation, done at each of the points from the plurality of points, of minimization of a functional of motion vectors comprising the sum of a data term and a regulation term, where the data term is made up of the product of a weighting term which is a function of the degree of regularity of the estimated motion vectors and a data linkage term which is a function of the spatial-temporal gradients of the brightness near points located in a neighborhood of a point, where the regulation term supplies a result to the minimization operation for the points near which the minimization of the data term does not allow estimating a unique solution.

Abstract: The invention relates to a method which uses a series of images sensed by an image sensor including at least one preceding image and one following image to estimate movement. A first estimated movement is initially obtained by estimating the total movement from the preceding image to the following image. Next, an image compensated according to the first estimated movement is obtained from either one of the preceding and following images. Then, a second estimated movement is obtained by estimating dense movement between the compensated image and the other from the preceding and following images. Next, a residual value of global movement is determined. Finally, if the residual value is lower than a threshold value the second estimated movement is provided; otherwise, the preceding steps are repeated.

Abstract: The invention relates to a method which uses a series of images sensed by an image sensor including at least one preceding image and one following image to estimate movement. A first estimated movement is initially obtained by estimating the total movement from the preceding image to the following image. Next, an image compensated according to the first estimated movement is obtained from either one of the preceding and following images. Then, a second estimated movement is obtained by estimating dense movement between the compensated image and the other from the preceding and following images. Next, a residual value of global movement is determined. Finally, if the residual value is lower than a threshold value the second estimated movement is provided; otherwise, the preceding steps are repeated.

Abstract: A tool that obtains a performance goal based on actual calculated performance of the vehicle, thereby eliminating a driver model. The tool includes an optimizer to determine path target points to be sent to controls, such as a steering controller, to obtain a performance goal—such as minimum transit time for a road segment. The design parameters and target lateral coordinates are input to a closed loop steering controller in a generic vehicle dynamic code. The invention uses discrete points to describe targets for path and speed making the use of optimization tools effective. The optimization is based on the actual calculated performance of the vehicle; therefore the path followed by the vehicle may be different from that described by the target(s). The target path is simply modified to obtain the best performance.