INCREMENTAL DETECTION AND TRACKING OF MOVING OBJECTS BY OPTICAL FLOW AND A CONTRARIO METHOD

Dora Luz Almanza-Ojeda, Michel Devy, Ariane Herbulot

2010

Abstract

This paper concerns moving objects detection and tracking based on the a contrario theory and on a Kalman filtering process. Only visual information is acquired from a B&Wcamera embedded on a mobile robot. KLT and a contrario theory are used to initially detect and cluster moving points. Then, each detected group of moving points is tracked as a moving object using Kalman Filter. The process detection-clustering-tracking is executed in an iterative way to deal with some challenges for real robot navigation. Furthermore, the area in which a moving obstacle is detected, is enlarged in the time until its real limits: clusters are fused with already detected objects considering similarities about their respective velocities and positions. Experimental results on real dynamic images acquired from a camera mounted on a moving robot, are presented and discussed.

Paper Citation

in Harvard Style

Luz Almanza-Ojeda D., Devy M. and Herbulot A. (2010). INCREMENTAL DETECTION AND TRACKING OF MOVING OBJECTS BY OPTICAL FLOW AND A CONTRARIO METHOD . In Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010) ISBN 978-989-674-028-3, pages 480-483. DOI: 10.5220/0002849404800483

in Bibtex Style

@conference{visapp10,
author={Dora Luz Almanza-Ojeda and Michel Devy and Ariane Herbulot},
title={INCREMENTAL DETECTION AND TRACKING OF MOVING OBJECTS BY OPTICAL FLOW AND A CONTRARIO METHOD},
booktitle={Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)},
year={2010},
pages={480-483},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002849404800483},
isbn={978-989-674-028-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Computer Vision Theory and Applications - Volume 1: VISAPP, (VISIGRAPP 2010)
TI - INCREMENTAL DETECTION AND TRACKING OF MOVING OBJECTS BY OPTICAL FLOW AND A CONTRARIO METHOD
SN - 978-989-674-028-3
AU - Luz Almanza-Ojeda D.
AU - Devy M.
AU - Herbulot A.
PY - 2010
SP - 480
EP - 483
DO - 10.5220/0002849404800483