Moving object detection from a mobile robot using basis image matching

Du-Ming Tsai; Wei-Yao Chiu; Tzu-Hsun Tseng

doi:10.1117/12.2075304

8 February 2015 Moving object detection from a mobile robot using basis image matching

Du-Ming Tsai, Wei-Yao Chiu, Tzu-Hsun Tseng

Proceedings Volume 9406, Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques; 940603 (2015) https://doi.org/10.1117/12.2075304
Event: SPIE/IS&T Electronic Imaging, 2015, San Francisco, California, United States

Abstract

In this paper, we propose an image processing scheme for moving object detection from a mobile robot with a single camera. It especially aims at intruder detection for the security robot on either smooth or uneven ground surfaces. The proposed scheme uses the template matching with basis image reconstruction for the alignment between two consecutive images in the video sequence. The most representative template patches in one image are first automatically selected based on the gradient energies in the patches. The chosen templates then form a basis image matrix. A windowed subimage is constructed by the linear combination of the basis images, and the instances of the templates in the subsequent image are matched by evaluating their reconstruction error from the basis image matrix. For two well aligned images, a simple and fast temporal difference can thus be applied to identify moving objects from the background. The proposed template matching can tolerate ±10° in rotation and ±10% in scaling. By adding templates with larger rotational angles in the basis image matrixes, the proposed method can match images from severe camera vibrations. The proposed scheme achieves a fast processing rate of 32 frames per second for images of size 160×120 pixels.

Citation Download Citation

Du-Ming Tsai, Wei-Yao Chiu, and Tzu-Hsun Tseng "Moving object detection from a mobile robot using basis image matching", Proc. SPIE 9406, Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques, 940603 (8 February 2015); https://doi.org/10.1117/12.2075304

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available