Lab Meeting January 17( KuenHan ), Moving Object Detection by Multi-View Geometric Techniques from a Single Camera Mounted Robot (IROS 2009)

Title: Moving Object Detection by Multi-View Geometric Techniques from a Single Camera Mounted Robot ( IROS 2009)
Author: Abhijit Kundu, K Madhava Krishna and Jayanthi Sivaswamy

Abstract:
The ability to detect, and track multiple moving
objects like person and other robots, is an important prerequisite
for mobile robots working in dynamic indoor environments.
We approach this problem by detecting independently moving
objects in image sequence from a monocular camera mounted
on a robot. We use multi-view geometric constraints to classify
a pixel as moving or static. The first constraint, we use, is the
epipolar constraint which requires images of static points to
lie on the corresponding epipolar lines in subsequent images.
In the second constraint, we use the knowledge of the robot
motion to estimate a bound in the position of image pixel along
the epipolar line. This is capable of detecting moving objects
followed by a moving camera in the same direction, a so-called
degenerate configuration where the epipolar constraint fails.
To classify the moving pixels robustly, a Bayesian framework
is used to assign a probability that the pixel is stationary
or dynamic based on the above geometric properties and
the probabilities are updated when the pixels are tracked in
subsequent images. The same framework also accounts for the
error in estimation of camera motion. Successful and repeatable
detection and pursuit of people and other moving objects in
realtime with a monocular camera mounted on the Pioneer
3DX, in a cluttered environment confirms the efficacy of the
method.

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