教師資料查詢 | 類別: 期刊論文 | 教師: 王銀添 Wang Yin-tien (瀏覽個人網頁)

標題:Detection of Moving Objects in Image Plane for Robot Navigation using Monocular Vision
學年100
學期2
出版(發表)日期2012/02/14
作品名稱Detection of Moving Objects in Image Plane for Robot Navigation using Monocular Vision
作品名稱(其他語言)
著者Wang, Yin-Tien; Sun, Chung-Hsun; Chiou, Ming-Jang
單位
出版者
著錄名稱、卷期、頁數EURASIP Journal on Advances in Signal Processing(SCI, EI) 2012(29), 22 pages
摘要This article presents an algorithm for moving object detection (MOD) in robot visual simultaneous localization and mapping (SLAM). This MOD algorithm is designed based on the defining epipolar constraint for the corresponding feature points on image plane. An essential matrix obtained using the state estimator is utilized to represent the epipolar constraint. Meanwhile, the method of speeded-up robust feature (SURF) is employed in the algorithm to provide a robust detection for image features as well as a better description of landmarks and of moving objects in visual SLAM system. Experiments are carried out on a hand-held monocular camera to verify the performances of the proposed algorithm. The results show that the integration of MOD and SURF is efficient for robot navigating in dynamic environments.
關鍵字simultaneous localization;and mapping (SLAM);moving object detection (MOD);moving object tracking (MOT);speeded-up robust features (SURF);monocular vision
語言英文(美國)
ISSN
期刊性質國外
收錄於SCI;EI;
產學合作
通訊作者
審稿制度
國別德國
公開徵稿
出版型式,紙本
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