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Proceedings Paper

Moving object detection from a mobile robot using basis image matching
Author(s): Du-Ming Tsai; Wei-Yao Chiu; Tzu-Hsun Tseng
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Paper Abstract

In this paper, we propose an image processing scheme for moving object detection from a mobile robot with a single camera. It especially aims at intruder detection for the security robot on either smooth or uneven ground surfaces. The proposed scheme uses the template matching with basis image reconstruction for the alignment between two consecutive images in the video sequence. The most representative template patches in one image are first automatically selected based on the gradient energies in the patches. The chosen templates then form a basis image matrix. A windowed subimage is constructed by the linear combination of the basis images, and the instances of the templates in the subsequent image are matched by evaluating their reconstruction error from the basis image matrix. For two well aligned images, a simple and fast temporal difference can thus be applied to identify moving objects from the background. The proposed template matching can tolerate ±10° in rotation and ±10% in scaling. By adding templates with larger rotational angles in the basis image matrixes, the proposed method can match images from severe camera vibrations. The proposed scheme achieves a fast processing rate of 32 frames per second for images of size 160×120 pixels.

Paper Details

Date Published: 8 February 2015
PDF: 10 pages
Proc. SPIE 9406, Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques, 940603 (8 February 2015); doi: 10.1117/12.2075304
Show Author Affiliations
Du-Ming Tsai, Yuan Ze Univ. (Taiwan)
Wei-Yao Chiu, Industrial Technology Research Institute (Taiwan)
Tzu-Hsun Tseng, Yuan Ze Univ. (Taiwan)


Published in SPIE Proceedings Vol. 9406:
Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques
Juha Röning; David Casasent, Editor(s)

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