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Motion Detection in the Presence of Egomotion Using the Fourier-Mellin Transform

  • 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.

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Document Type:Conference Object
Author:Santosh Thoduka, Frederik Hegger, Gerhard K. Kraetzschmar, Paul G. Plöger
Parent Title (English):Akiyama, Obst et al. (Eds.): RoboCup 2017: Robot World Cup XXI. Lecture Notes in Computer Science (LNCS), vol 11175
First Page:252
Last Page:264
Date of first publication:2018/09/07
Departments, institutes and facilities:Fachbereich Informatik
Dewey Decimal Classification (DDC):0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Entry in this database:2018/05/22