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Moving Object Detection Using Monocular Vision

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Intelligent Autonomous Systems 12

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 193))

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Abstract

This paper presents an algorithm for moving object detection (MOD) in robot visual simultaneous localization and mapping (SLAM). The 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. Experiment is carried out on a hand-held monocular camera to validate the performances of the proposed algorithm. The results show that the integration of MOD and SURF is efficient for robot navigating in dynamic environments.

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Authors and Affiliations

  1. Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei, Taiwan

    Yin-Tien Wang, Kuo-Wei Chen & Ming-Jang Chiou

Authors
  1. Yin-Tien Wang
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  2. Kuo-Wei Chen
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  3. Ming-Jang Chiou
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Corresponding author

Correspondence to Yin-Tien Wang .

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Editors and Affiliations

  1. , School of Information and Communication, Sungkyunkwan University, 300 Chunchun-Dong Jangan-Ku, Kyunggi-Do, 440-746, Korea, Republic of (South Korea)

    Sukhan Lee

  2. Science and Technology, Daegu Gyeongbuk Institute of, 50-1, Sang-Ri, Hyeonpung-Myeon, Dalseong-Gun, Daegu, 711-873, Korea, Republic of (South Korea)

    Hyungsuck Cho

  3. Konkuk University, Neungdong-ro, Gwangjin-gu 120, Seoul, 143-701, Korea, Republic of (South Korea)

    Kwang-Joon Yoon

  4. , Department of Electronics Engineering, Pusan National University, Geum Jeong-ku, Pusan, 609-735, Korea, Republic of (South Korea)

    Jangmyung Lee

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Wang, YT., Chen, KW., Chiou, MJ. (2013). Moving Object Detection Using Monocular Vision. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 193. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33926-4_17

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  • DOI: https://doi.org/10.1007/978-3-642-33926-4_17

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-33925-7

  • Online ISBN: 978-3-642-33926-4

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