Detection of Moving Objects in Image Plane for Robot Navigation using Monocular Vision

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题名:	Detection of Moving Objects in Image Plane for Robot Navigation using Monocular Vision
其它题名:	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
作者:	Wang, Yin-Tien;Sun, Chung-Hsun;Chiou, Ming-Jang
贡献者:	淡江大學機械與機電工程學系
关键词:	simultaneous localization;and mapping (SLAM);moving object detection (MOD);moving object tracking (MOT);speeded-up robust features (SURF);monocular vision
日期:	2012-02-14
上传时间:	2016-01-06 11:00:43 (UTC+8)
摘要:	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.
關聯:	EURASIP Journal on Advances in Signal Processing 29
DOI:	10.1186/1687-6180-2012-29
显示于类别:	[人工智慧學系] 期刊論文

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