Moving Object Detection Using Monocular Vision
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
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