VISUAL-BASED DETECTION AND TRACKING OF DYNAMIC OBSTACLES FROM A MOBILE ROBOT

Dora Luz Almanza-Ojeda, Michel Devy, Ariane Herbulot

Abstract

This paper presents a methodology for detecting and tracking moving objects during mobile robot navigation in unknown environments using only visual information. An initial set of interest points is detected and then tracked by the Kanade-Lucas tracker (KLT). Along few images, point positions and velocities are accumulated and a spatio-temporal analysis, based on the a contrario theory, is performed for the clustering process of these points. All dynamical sets of points found by the clustering are directly initialized and tracked as moving objects using Kalman Filter. At each image, a probability map saves temporally the previous interesting point positions with a certain probability value. New features will be added in the most likely zones based on this probability map. The process detection-clustering-tracking is executed in an iterative way to guarantee the detection of new moving objects or to incrementally enlarge already detected objects until their real limits. Experimental results on real dynamic images acquired during robot outdoor and indoor navigation task are presented. Furthermore, rigid and non rigid moving object tracking results are compared and discussed.

References

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Paper Citation


in Harvard Style

Luz Almanza-Ojeda D., Devy M. and Herbulot A. (2010). VISUAL-BASED DETECTION AND TRACKING OF DYNAMIC OBSTACLES FROM A MOBILE ROBOT . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 98-105. DOI: 10.5220/0002954800980105


in Bibtex Style

@conference{icinco10,
author={Dora Luz Almanza-Ojeda and Michel Devy and Ariane Herbulot},
title={VISUAL-BASED DETECTION AND TRACKING OF DYNAMIC OBSTACLES FROM A MOBILE ROBOT},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={98-105},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002954800980105},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - VISUAL-BASED DETECTION AND TRACKING OF DYNAMIC OBSTACLES FROM A MOBILE ROBOT
SN - 978-989-8425-01-0
AU - Luz Almanza-Ojeda D.
AU - Devy M.
AU - Herbulot A.
PY - 2010
SP - 98
EP - 105
DO - 10.5220/0002954800980105