基于运动补偿帧间深度减法的移动立体全向系统运动目标检测

Proceedings of the 17th International Conference on Pattern Recognition, 2004. ICPR 2004. Pub Date : 2004-08-23 DOI:10.1109/ICPR.2004.1334514

Sanae Shimizu, Kazuhiko Yamamoto, Caihua Wang, Yutaka Sato, H. Tanahashi, Y. Niwa

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引用次数: 6

摘要

当考虑移动机器人在人类环境中使用时，使用移动图像传感器进行运动目标检测是一项重要的任务。本文提出了一种利用具有完全球面视场的立体全向系统(SOS)有效解决移动机器人运动目标检测问题的新方法。我们首先根据SOS的自运动和前一时刻的深度图像来预测当前时刻的深度图像，然后通过将预测的深度图像与当前时刻的实际深度图像进行比较来检测运动目标。实际实验表明了该方法的有效性。

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Moving object detection with mobile stereo omni-directional system (SOS) based on motion compensatory inter-frame depth subtraction

Moving object detection with a mobile image sensor is an important task when considering mobile robots for use in human environments. In this paper, we propose a novel method/or effectively solving the problem of detecting moving objects for mobile robots by using the stereo omni-directional system (SOS) which has a complete spherical FOV. We first predict the depth image for the present time from the self-motion of the SOS and the depth image obtained at the previous time, and then detect the moving objects by comparing the predicted depth image with the actual one obtained at the present time. Experiments in the real world show the effectiveness of the proposed method.

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Proceedings of the 17th International Conference on Pattern Recognition, 2004. ICPR 2004.

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