Detection of Moving Objects in Image Plane for Robot Navigation using Monocular Vision
學年 100
學期 2
出版（發表）日期 2012-02-14
作品名稱 Detection of Moving Objects in Image Plane for Robot Navigation using Monocular Vision
作品名稱（其他語言）
著者 Wang, Yin-Tien; Sun, Chung-Hsun; Chiou, Ming-Jang
單位
出版者
著錄名稱、卷期、頁數 EURASIP Journal on Advances in Signal Processing 29
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.
關鍵字 simultaneous localization;and mapping (SLAM);moving object detection (MOD);moving object tracking (MOT);speeded-up robust features (SURF);monocular vision
語言 en_US
ISSN
期刊性質 國外
收錄於 SCI EI
產學合作
通訊作者
審稿制度 是
國別 DEU
公開徵稿
出版型式 ,紙本
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機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/104514 )

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