Moving Object Detection in Omnidirectional Vision Based Mobile Robot

Abstract

According to the detection of moving object based on mobile robot under dynamic background,an algorithm of detection based on omnidirectional vision is proposed. The method of extracting feature points is improved in the SIFT algorithm. After dividing the image as grid cells,the feature points of each grid cell are selected according to the entropy of local region around the feature point. Then after matching SIFT points,it employs RANSAC algorithm eliminate the mismatching points to improve the accuracy of the background compensation. Finally,frame difference method is used to detect the moving object. Experimental results show that with a better robustness,the proposed algorithm decreases the time of extracting feature points and it can detect the moving object while robot is moving.