Computer Science ›› 2015, Vol. 42 ›› Issue (11): 314-319.doi: 10.11896/j.issn.1002-137X.2015.11.064

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Moving Object Detection in Omnidirectional Vision-based Mobile Robot

TANG Yi-ping, HU Da-wei, CAI Ying-mei, HUANG Ke and JIANG Rong-jian   

  • Online:2018-11-14 Published:2018-11-14

Abstract: For moving object detection in dynamic background,the movement of moving object needs to be extracted by considering the background which has also changed by the ego-motion of mobile robot.Affine transformation is widely used to estimate the background transformation between images.However,using omnidirectional vision sensors (ODVS) in mobile robot will cause inconsistencies in the background motion image due to distortion of the omnidirectional image.So only one affine transformation model can not represent the whole background changes.In this paper,the image was divided into grid windows and the area of moving objects were obtained from the background transformation-compensated frame difference using every affine transformation for each window.Finally,according to the imaging characteristics of ODVS,we obtained the distance and orientation information of moving obstacle by visual method.The results demonstrate that the proposed method is very efficient in moving object detection.It can also realize the precise localization of moving obstacles and greatly improve the ability of abstacle avoidance of mobile robot.

Key words: Omnidirectional vision sensor(ODVS),Mobile robot,Background compensated,Blocked affine transformation

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