Optical flow or image subtraction in human detection from infrared camera on mobile robot

被引：85

作者：

Fernandez-Caballero, Antonio ^{[1
,2
]}

Carlos Castillo, Jose ^{[1
]}

Martinez-Cantos, Javier ^{[3
]}

Martinez-Tomas, Rafael ^{[4
]}

机构：

[1] Univ Castilla La Mancha, Inst Invest Informat Albacete 13A, Albacete 02071, Spain

[2] Univ Castilla La Mancha, Escuela Ingenieros Ind Albacete, Dept Sistemas Informat, Albacete 02071, Spain

[3] MoviRobot SL Parque Cient & Tecnol Albacete, Albacete 02006, Spain

[4] Univ Nacl Educ Distancia, Dept Inteligencia Artificial, Madrid 28040, Spain

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2010年 / 58卷 / 12期

关键词：

Surveillance system; Mobile robot; Infrared camera; Optical flow; Image subtraction; OBSTACLE AVOIDANCE; TRACKING; SURVEILLANCE; MODEL;

D O I：

10.1016/j.robot.2010.06.002

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Perceiving the environment is crucial in any application relatd to mobile robotics research. In this paper, a new approach to real-time human detection through processing video captured by a thermal infrared camera mounted on the autonomous mobile platform mSecurit (TM) is introduced. The approach starts with a phase of static analysis for the detection of human candidates through some classical image processing techniques such as image normalization and thresholding. Then, the proposal starts a dynamic image analysis phase based in optical flow or image difference. Optical flow is used when the robot is moving, whilst image difference is the preferred method when the mobile platform is still. The results of both phases are compared to enhance the human segmentation by infrared camera. Indeed, optical flow or image difference will emphasize the foreground hot spot areas obtained at the initial human candidates' detection. (C) 2010 Elsevier B.V. All rights reserved.

引用

页码：1273 / 1281

页数：9

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