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Pregled bibliografske jedinice broj: 688198

Moving object detection, tracking and following using an omnidirectional camera on a mobile robot


Marković, Ivan; Chaumette, François; Petrović, Ivan
Moving object detection, tracking and following using an omnidirectional camera on a mobile robot // Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014)
Hong Kong, Kina, 2014. str. 5630-5635 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Moving object detection, tracking and following using an omnidirectional camera on a mobile robot

Autori
Marković, Ivan ; Chaumette, François ; Petrović, Ivan

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

Izvornik
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2014) / - Hong Kong, Kina, 2014, 5630-5635

Skup
IEEE International Conference on Robotics and Automation (ICRA)

Mjesto i datum
Hong-Kong, Kina, 31.05.-07.06.2014.

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Moving object detection and tracking; omnidirectional vision; visual servoing

Sažetak
Equipping mobile robots with an omnidirectional camera is very advantageous in numerous applications as all information about the surrounding scene is stored in a single image frame. In the given context, the present paper is concerned with detection, tracking and following of a moving object with an omnidirectional camera. The camera calibration and image formation is based on the spherical unified projection model thus yielding a representation of the omnidirectional image on the unit sphere. Detection of moving objects is performed by calculating a sparse optical flow in the image and then lifting the flow vectors on the unit sphere where they are discriminated as dynamic or static by analytically calculating the distance of the terminal vector point to a great circle arc. The flow vectors are then clustered and the center of gravity is calculated to form the sensor measurement. Furthermore, the tracking is posed as a Bayesian estimation problem on the unit sphere and the solution based on the von Mises-Fisher distribution is utilized. Visual servoing is performed for the object following task where the control law calculation is based on the projection of a point on the unit sphere. Experimental results obtained by a camera with a fish-eye lens mounted on a differential drive mobile robot are presented and discussed.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )
ACROSS

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb