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

被引：1

作者：

Thoduka, Santosh ^{[1
]}

Hegger, Frederik ^{[1
]}

Kraetzschmar, Gerhard K. ^{[1
]}

Ploeger, Paul G. ^{[1
]}

机构：

[1] Bonn Rhein Sieg Univ Appl Sci, Dept Comp Sci, Grantham Allee 20, D-53757 St Augustin, Germany

来源：

ROBOCUP 2017: ROBOT WORLD CUP XXI | 2018年 / 11175卷

关键词：

Motion detection; Mobile robots; Egomotion compensation; Fourier-Mellin transform;

D O I：

10.1007/978-3-030-00308-1_21

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页码：252 / 264

页数：13

共 50 条

[1] Automatic recognition of shoeprints using Fourier-Mellin transform
Gueham, M.
Bouridane, A.
Crookes, D.
Nibouche, O.
[J]. PROCEEDINGS OF THE 2008 NASA/ESA CONFERENCE ON ADAPTIVE HARDWARE AND SYSTEMS, 2008, : 487 - 491
[2] FOURIER-MELLIN TRANSFORM AND MAMMALIAN HEARING
ALTES, RA
[J]. JOURNAL OF THE ACOUSTICAL SOCIETY OF AMERICA, 1978, 63 (01): : 174 - 183
[3] Medical image registration using Fourier-Mellin transform
Pan, Meisen
Jiang, Jianjun
Zhang, Fen
Rong, Qiusheng
[J]. Journal of Computational Information Systems, 2015, 11 (03): : 1141 - 1148
[4] Radar Scan Matching SLAM Using the Fourier-Mellin Transform
Checchin, Paul
Gerossier, Franck
Blanc, Christophe
Chapuis, Roland
Trassoudaine, Laurent
[J]. FIELD AND SERVICE ROBOTICS, 2010, 62 : 151 - 161
[5] Detection of copy-move forgery using discrete analytical Fourier-Mellin transform
Zhong, Junliu
Gan, Yanfen
[J]. NONLINEAR DYNAMICS, 2016, 84 (01) : 189 - 202
[6] Fourier-Mellin Transform for Robust Image Hashing
Prungsinchai, Supakorn
Khelifi, Fouad
Bouridane, Ahmed
[J]. 2013 FOURTH INTERNATIONAL CONFERENCE ON EMERGING SECURITY TECHNOLOGIES (EST), 2013, : 58 - 61
[7] FOURIER-MELLIN TRANSFORM AND THE INVARIANT IMAGE MOMENTS
LI, YJ
[J]. JAPANESE JOURNAL OF APPLIED PHYSICS PART 1-REGULAR PAPERS SHORT NOTES & REVIEW PAPERS, 1991, 30 (07): : 1405 - 1406
[8] Fast registration of tabular document images using the Fourier-Mellin transform
Hutchison, LAD
Barrett, WA
[J]. FIRST INTERNATIONAL WORKSHOP ON DOCUMENT IMAGE ANALYSIS FOR LIBRARIES, PROCEEDINGS, 2004, : 253 - 267
[9] InSAR image co-registration using the Fourier-Mellin transform
Abdelfattah, R
Nicolas, JM
[J]. INTERNATIONAL JOURNAL OF REMOTE SENSING, 2005, 26 (13) : 2865 - 2876
[10] Fourier-Mellin transform based image matching algorithm
Dasgupta, B
Chatterji, BN
[J]. JOURNAL OF THE INSTITUTION OF ELECTRONICS AND TELECOMMUNICATION ENGINEERS, 1996, 42 (01): : 3 - 9

← 1 2 3 4 5 →