Vision based safety device for uncontrolled robotic environments

A comparative study of fast motion detectors for image sequences in a real world scene is presented. We discuss particularly the problem of sensitivity towards the changes of illumination which induce false detections. Algorithms are tested with two sequences of grey value images, one containing a real object motion, and a second one which contains changes due to the variation of illumination. A new algorithm of change detection using colour information is introduced. The experimentation showed that this algorithm permits to take into account the illumination component and also reacts satisfactory towards security constraints