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Pregled bibliografske jedinice broj: 519438

Real-Time Detection of Moving Objects by a Mobile Robot with an Omnidirectional Camera


Herceg, Domagoj; Marković, Ivan; Petrović, Ivan
Real-Time Detection of Moving Objects by a Mobile Robot with an Omnidirectional Camera // Proceedings of the 7th International Symposium on Image and Signal Processing and Analysis / Lončarić, Sven ; Ramponi, Gianni ; Seršić, Damir (ur.).
Dubrovnik, 2011. str. 289-294 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Real-Time Detection of Moving Objects by a Mobile Robot with an Omnidirectional Camera

Autori
Herceg, Domagoj ; Marković, Ivan ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 7th International Symposium on Image and Signal Processing and Analysis / Lončarić, Sven ; Ramponi, Gianni ; Seršić, Damir - Dubrovnik, 2011, 289-294

Skup
7th International Symposium on Image and Signal Processing and Analysis (ISPA 2011)

Mjesto i datum
Dubrovnik, Hrvatska, 04-06.09.2011.

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Omnidirectional camera; dynamic object tracking; optical flow

Sažetak
Mobile robots equipped with an omnidirectional camera have gained a considerable attention over the last decade. Having an entire view of the scene can be very advantageous in numerous applications as all information is stored in a single frame. This paper is primarily concerned with detection of moving objects from optical flow field in cluttered indoor environments, which is necessary for safe navigation and collision avoidance. The algorithm is based on the comparison of the measured optical flow vectors with the generated ones. As depth information is not available, a novel method is proposed which iteratively generates optical flow vectors for different possible real world coordinates of the objects in the scene. This is necessary in order to incorporate motion estimates given by motor encoders. Back-projecting into image is then used to generate synthetic optical flow vectors needed for comparison. The algorithm was tested on a real system and was able to successfully localize a moving object under both artificial and natural lighting. The proposed algorithm can be implemented in real-time on any system with known calibrated model of the omnidirectional sensor and reliable motion estimation.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Nedjeljko Perić, )
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb