Motion Removal from Moving Platforms: An RGB-D Data-based Motion Detection, Tracking and Segmentation Approach
Refereed conference paper presented and published in conference proceedings


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AbstractMoving objects are the primary concern for most robot vision applications in dynamic environments. The existence of moving objects can lead to ambiguous decisions such as searching loop closure in visual mapping applications. Eliminating moving objects from the image sequences captured by moving camera is the key challenge. In this paper, a novel approach for moving objects removal using a hand-held RGB-D camera is proposed. Only the visual and depth data are used. No other sensor or prior information is needed in this paper. Our approach can be exploited as a pre-processing stage to filter out data that are associated with moving objects. We test our approach with various ego-motion patterns in different environments. The experimental results demonstrate that our approach can provide a practical solution for motion removal from moving platforms using an RGB-D camera.
All Author(s) ListSun YX, Liu M, Meng MQH
Name of ConferenceIEEE International Conference on Robotics and Biomimetics (ROBIO)
Start Date of Conference06/12/2015
End Date of Conference09/12/2015
Place of ConferenceZhuhai
Country/Region of ConferenceChina
Detailed descriptionorganized by IEEE,
Year2015
Month1
Day1
PublisherIEEE
Pages1377 - 1382
eISBN978-1-4673-9675-2
LanguagesEnglish-United Kingdom
Web of Science Subject CategoriesRobotics

Last updated on 2020-26-09 at 02:47