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

香港中文大學研究人員

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摘要Moving 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.
著者Sun YX, Liu M, Meng MQH
會議名稱IEEE International Conference on Robotics and Biomimetics (ROBIO)
會議開始日06.12.2015
會議完結日09.12.2015
會議地點Zhuhai
會議國家/地區中國
詳細描述organized by IEEE,
出版年份2015
月份1
日期1
出版社IEEE
頁次1377 - 1382
電子國際標準書號978-1-4673-9675-2
語言英式英語
Web of Science 學科類別Robotics

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