淡江大學機構典藏:Item 987654321/104514
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    Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/104514


    Title: Detection of Moving Objects in Image Plane for Robot Navigation using Monocular Vision
    Other Titles: 應用影像平面中偵測移動物體之方法於機器人單眼視覺式巡航
    Authors: Wang, Yin-Tien;Sun, Chung-Hsun;Chiou, Ming-Jang
    Contributors: 淡江大學機械與機電工程學系
    Keywords: simultaneous localization;and mapping (SLAM);moving object detection (MOD);moving object tracking (MOT);speeded-up robust features (SURF);monocular vision
    Date: 2012-02-14
    Issue Date: 2016-01-06 11:00:43 (UTC+8)
    Abstract: This article presents an algorithm for moving object detection (MOD) in robot visual simultaneous localization and mapping (SLAM). This MOD algorithm is designed based on the defining epipolar constraint for the corresponding feature points on image plane. An essential matrix obtained using the state estimator is utilized to represent the epipolar constraint. Meanwhile, the method of speeded-up robust feature (SURF) is employed in the algorithm to provide a robust detection for image features as well as a better description of landmarks and of moving objects in visual SLAM system. Experiments are carried out on a hand-held monocular camera to verify the performances of the proposed algorithm. The results show that the integration of MOD and SURF is efficient for robot navigating in dynamic environments.
    Relation: EURASIP Journal on Advances in Signal Processing 29
    DOI: 10.1186/1687-6180-2012-29
    Appears in Collections:[Department of Artificial Intelligence] Journal Article

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