Proceedings PaperAutomatic acquisition of objects from multiple sensors on board a moving platform
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This paper describes a mobile robot with acoustic- and vision-based intrusion detection capability. A difficult task for the robot is to distinguish between observed angular velocity of stationary versus moving objects. Techniques for extracting motion cues relevant to this task given angle-only object position measurements are given. Effectively, the motion cues compare perceived velocity (direction and magnitude) and angular momentum with that expected of stationary objects.