Detecting Moving Objects Using Optical Flow with a Moving Stereo Camera

The detection of moving objects has become an important field of research for mobile robots. It is difficult to detect moving objects from a moving camera because moving objects and the background can appear to move. This paper proposes a method for detecting moving objects using a moving stereo camera. First, the camera motion parameters are estimated by using optical flow with a stereo camera. Second, the optical flow occurring in the background is removed. Finally, moving objects are detected individually by labeling the remaining optical flow. The proposed method has been evaluated through experiments using two pedestrians in an indoor environment.