This paper presents experiments in dynamic targets detection using panoramic images, which represent rich visual sources of global scenes around a robot. Moving targets (people) are distinguished as foreground pixels in binary images detected using a modified optical flow approach where the intensity of lighting source is variable. The directions of detected targets are determined using two strategies; the first one is convenient for unfolded panoramic images; it searches most probable regions in the last binary image by calculating a histogram of foreground pixels on its columns. The second approach is applied on raw panoramic images; it regroups foreground pixels using a technique that generates a new pixel's intensity depending on the intensities of its neighbors. © 2008 Springer-Verlag Berlin Heidelberg.
CITATION STYLE
Baba, A., & Chatila, R. (2008). Dynamic targets detection for robotic applications using panoramic vision system. In Lecture Notes in Control and Information Sciences (Vol. 370, pp. 215–227). https://doi.org/10.1007/978-3-540-76729-9_17
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