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Title: Real time moving object detection using motor signal and depth map for robot car
Authors: Wu, H
Siu, WC 
Keywords: Depth
Motor signal
Moving object detection
Issue Date: 2014
Publisher: SPIE-International Society for Optical Engineering
Source: Proceedings of SPIE : the International Society for Optical Engineering, 2014, v. 9025, 90250P How to cite?
Journal: Proceedings of SPIE : the International Society for Optical Engineering 
Abstract: Moving object detection from a moving camera is a fundamental task in many applications. For the moving robot car vision, the background movement is 3D motion structure in nature. In this situation, the conventional moving object detection algorithm cannot be use to handle the 3D background modeling effectively and efficiently. In this paper, a novel scheme is proposed by utilizing the motor control signal and depth map obtained from a stereo camera to model the perspective transform matrix between different frames under a moving camera. In our approach, the coordinate relationship between frames during camera moving is modeled by a perspective transform matrix which is obtained by using current motor control signals and the pixel depth value. Hence, the relationship between a static background pixel and the moving foreground corresponding to the camera motion can be related by a perspective matrix. To enhance the robustness of classification, we allowed a tolerance range during the perspective transform matrix prediction and used multi-reference frames to classify the pixel on current frame. The proposed scheme has been found to be able to detect moving objects for our moving robot car efficiently. Different from conventional approaches, our method can model the moving background in 3D structure, without online model training. More importantly, the computational complexity and memory requirement are low making it possible to implement this scheme in real-time, which is even valuable for a robot vision system.
Description: Intelligent Robots and Computer Vision XXXI: Algorithms and Techniques, San Francisco, CA, 4-6 February 2014
ISBN: 9780819499424
ISSN: 0277-786X
EISSN: 1996-756X
DOI: 10.1117/12.2042639
Appears in Collections:Conference Paper

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