Vision-based motion detection, an important skill for an autonomous mobile robot operating in dynamic environments, is particularly challenging when the robot’s camera is in motion. In this paper, we use a Fourier-Mellin transform-based image registration method to compensate for camera motion before applying temporal differencing for motion detection. The approach is evaluated online as well as offline on a set of sequences recorded with a Care-O-bot 3, and compared with a feature-based method for image registration. In comparison to the feature-based method, our method performs better both in terms of robustness of the registration and the false discovery rate.
CITATION STYLE
Thoduka, S., Hegger, F., Kraetzschmar, G. K., & Plöger, P. G. (2018). Motion detection in the presence of egomotion using the fourier-mellin transform. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 11175 LNAI, pp. 252–264). Springer Verlag. https://doi.org/10.1007/978-3-030-00308-1_21
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