Binghua Guo, Hongyue Dai, and Zhonghua Li
Visual saliency, motion detection, dynamics, mobile robots,navigation
Saliency is an important part of the human vision mechanism. A visual saliency computing model that imitates this mechanism makes mobile robots more efficient and robust in motion detection. A method of motion detection based on visual saliency for mobile robots is presented in this paper. First, the matching SURF features in two consecutive frames are extracted, and 3D projection geometry theory and the multi-RANSAC algorithm are utilized to estimate the velocity of the dynamic objects. Second, a potential-gradient function is defined as motion contrast to determine the saliency of dynamic objects. The saliency of objects makes mobile robots suitable for the detection of high-dynamic or surrounding moving objects. Lastly, integration is demonstrated with visual saliency modelling in both indoor and outdoor environments. Results of the experiments and evaluation revealed the capabilities of the proposed approach for motion detection. As a result, the proposed scheme can provide an efficient processing method to meet the requirements of moving object detection for robots.
Important Links:
Go Back
