Moving object detection and segmentation in urban environments from a moving platform

Detection of moving objects from moving platform

A method of detecting moving objects from an image sequence acquired by a single moving camera is presented. No assumptions about the movement of the camera platform is made. Motion detection from a moving platform is a non-trivial problem as the moving camera induces apparent motion in the entire image. The epipolar geometric constraint is used between matched points in consecutive image frame...

Moving Object Detection Using a Stereo Camera Mounted on a Moving Platform

In this paper, we propose a method for detecting moving objects using a moving stereo camera. First, the camera motion parameters are estimated by using optical flow with a stereo camera. Second, the optical flow occurring in the background is removed. Finally, moving objects are detected individually by labeling the remaining optical flow. The proposed method is evaluated through experiments u...

Wavelet-based Moving Object Segmentation

Simultaneous egomotion estimation, segmentation, and moving object detection

Robust egomotion estimation is a key prerequisite for making a robot truly autonomous. In previous work, a multimodel extension of random sample consensus (RANSAC) was introduced to deal with environments with rapid changes by incorporating moving object information. A multiscale matching algorithm was also proposed to resolve the issue of imperfect segmentation. In this paper, we present a nov...

Quickest Moving Object Detection

We present a general framework and method for simultaneous detection and segmentation of an object in a video that moves (or comes into view of the camera) at some unknown time in the video. The method is an online approach based on motion segmentation, and it operates under dynamic backgrounds caused by a moving camera or moving nuisances. The goal of the method is to detect and segment the ob...