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Here you can find information about the things I work with, details of publications, projects, my resume, and software I have written as well slides from the subjects I used to teach.

On the use of Optical Flow for Scene Change Detection and Description

PublicationsPosted by navid nourani Thu, May 09, 2013 22:01:53

DOI: 10.1007/s10846-013-9840-8


N Nourani-Vatani, P VK Borges, J M Roberts, M V Srinivasan

Acceptance date

May 2013


Journal of Intelligent and Robotic Systems: Volume 74, Issue 3 (2014), Page 817-846


We propose the use of optical flow information as a method for detecting and describing changes in the environment, from the perspective of a mobile camera. We analyze the characteristics of the optical flow signal and demonstrate how robust flow vectors can be generated and used for the detection of depth discontinuities and appearance changes at key locations. To successfully achieve this task, a full discussion on camera positioning, distortion compensation, noise filtering, and parameter estimation is presented. We then extract statistical attributes from the flow signal to describe the location of the scene changes. We also employ clustering and dominant shape of vectors to increase the descriptiveness. Once a database of nodes (where a node is a detected scene change) and their corresponding flow features is created, matching can be performed whenever nodes are encountered, such that topological localization can be achieved. We retrieve the most likely node according to the Mahalanobis and Chi-square distances between the current frame and the database. The results illustrate the applicability of the technique for detecting and describing scene changes in diverse lighting conditions, considering indoor and outdoor environments and different robot platforms.


The final publication is available at


Scene change detection using optical flow, loop closure using SIFT, on a quad-copter:

Scene change detection and description using optical flow:

  • Comments(2)

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Posted by navid nourani Tue, June 04, 2013 08:46:52

Hi Chris,

Thanks for the comment. The videos where on the pages relating to the conference publications. I have now included them here too.

Happy reading


Posted by Chris Tue, June 04, 2013 06:24:17

reading your paper but cannot find the video mentioned in footnote 2?