A study on detecting moving objects via projective transformation

Author

Nagayoshi, Midori ; Uchikado, Shigeru

Author_Institution

Dept. of Inf. Sci., Tokyo Denki Univ., Saitama, Japan

Volume

2

fYear

2004

fDate

1-3 Dec. 2004

Firstpage

981

Abstract

We analyze the proposed correspondence methods in detail, and new interpretations of them are given so that new method is proposed based on this result. Here the epipole and the epipolar line play an important role. Then a method in general camera configuration is proposed. This method is easily constructed by using singular value decomposition and projective transformation. Furthermore it shows that this method is effective under the environment of a moving camera. Based on the new method proposed for the correspondence problem, we propose a method to detect moving objects by using a camera on a mobile robot.

Keywords

image motion analysis; mobile robots; object detection; robot vision; singular value decomposition; camera configuration; correspondence methods; epipolar line; mobile robot; moving camera; moving object detection; projective transformation; singular value decomposition; Cameras; Computer vision; Design methodology; Equations; Mobile robots; Object detection; Robot kinematics; Robot vision systems; Robustness; Singular value decomposition;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Automation and Mechatronics, 2004 IEEE Conference on

Print_ISBN

0-7803-8645-0

Type

conf

DOI

10.1109/RAMECH.2004.1438052

Filename

1438052