會議論文
| 學年 | 100 |
|---|---|
| 學期 | 2 |
| 發表日期 | 2012-06-26 |
| 作品名稱 | Moving Object Detection Using Monocular Vision |
| 作品名稱（其他語言） | |
| 著者 | Wang, Yin-tien; Chen, Kuo-wei; Chiou, Ming-jang |
| 作品所屬單位 | 淡江大學機械與機電工程學系 |
| 出版者 | Springer |
| 會議名稱 | the 12th International Conference on Intelligent Autonomous System (IAS-12) |
| 會議地點 | Jeju Island, Korea |
| 摘要 | This paper presents an algorithm for moving object detection (MOD) in robot visual simultaneous localization and mapping (SLAM). The 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 pipolar 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. Experiment is carried out on a hand-held monocular camera to validate the performances of the proposed algorithm. The results show that the integration of MOD and SURF is efficient for robot navigating in dynamic environments. |
| 關鍵字 | Moving object detection; simultaneous localization and mapping; speeded-up robust features; monocular vision |
| 語言 | en |
| 收錄於 | EI |
| 會議性質 | 國際 |
| 校內研討會地點 | |
| 研討會時間 | 20120626~20120629 |
| 通訊作者 | Wang, Yin-tien |
| 國別 | KOR |
| 公開徵稿 | Y |
| 出版型式 | 紙本 電子版 |
| 出處 | Intelligent Autonomous Systems 12: Proceedings of the 12th International Conference, pp.183-192 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/78998 ) |