Generation of multiple background model by estimated camera motion using edge segments

Abstract

We investigate new approach for segmentation of moving objects and generation of MBM (Multiple Background Model) from an image sequence by a mobile robot. For generating MBM from unstable camera, we have to know the camera motion. When we correlate two consecutive images to calculate the similarity, we use edge segments to reduce computational cost. Because the regions, neighbors of edge segments, have distinctive spatial features while some regions like blue sky, empty road, etc. have ambiguity. Based on the similarity result, we obtain best matched regions, their centroids and displacement vector between two centroids. The highest density of displacement vector histogram, named motion vector, indicates camera motion between consecutive frames. We generate MBM based on motion vector and MBM algorithm classifies each matched pixel to several clusters. The experimental results shows that proposed algorithm successfully detect moving objects with MBM when camera has 2-D translation. © 2008 Springer-Verlag Berlin Heidelberg.