Paper Info
Title
Optical flow or image subtraction in human detection from infrared camera on mobile robot
Abstract
Perceiving the environment is crucial in any application related to mobile robotics research. In this paper, a new approach to real-time human detection through processing video captured by a thermal infrared camera mounted on the autonomous mobile platform mSecurit^T^M is introduced. The approach starts with a phase of static analysis for the detection of human candidates through some classical image processing techniques such as image normalization and thresholding. Then, the proposal starts a dynamic image analysis phase based in optical flow or image difference. Optical flow is used when the robot is moving, whilst image difference is the preferred method when the mobile platform is still. The results of both phases are compared to enhance the human segmentation by infrared camera. Indeed, optical flow or image difference will emphasize the foreground hot spot areas obtained at the initial human candidates' detection.
Year
DOI
Venue
2010
10.1016/j.robot.2010.06.002
Robotics and Autonomous Systems
Keywords
Field
DocType
Surveillance system,Mobile robot,Infrared camera,Optical flow,Image subtraction
Background subtraction,Computer vision,Feature detection (computer vision),Computer science,Camera interface,Image processing,Artificial intelligence,Thresholding,Digital image processing,Optical flow,Mobile robot
Journal
Volume
Issue
ISSN
58
12
Robotics and Autonomous Systems
Citations 
PageRank 
References 
39
1.73
28
Authors
4
Name
Order
Citations
PageRank
Antonio Fernández-Caballero11317117.99
José Carlos Castillo241134.89
Javier Martínez-Cantos3824.17
Rafael Martínez-Tomás48911.14