パン・チルトカメラとPIRセンサの融合による警備ロボット向け移動物体検出
Pan-Tilt Camera and PIR Sensor Fusion Based Moving Object Detection for Mobile Security Robots
パン・チルトカメラと人感センサ(PIR)を組み合わせ、連続フレーム差分で人物などの移動物体をリアルタイムに検出・追跡する手法を提案した論文。
著者: YongChol Sin, MyongSong Choe, GyongIl Ryang
分類: cs.RO, cs.CV
原文アブストラクト
One of fundamental issues for security robots is to detect and track people in the surroundings. The main problems of this task are real-time constraints, a changing background, varying illumination conditions and a non-rigid shape of the person to be tracked. In this paper, we propose a solution for tracking with a pan-tilt camera and a passive infrared range (PIR) sensor to detect the moving object based on consecutive frame difference. The proposed method is excellent in real-time performance because it requires only a little memory and computation. Experiment results show that this method can detect the moving object such as human efficiently and accurately in non-stationary and complex indoor environment.
