Motion removal from moving platforms: An RGB-D data-based motion detection, tracking and segmentation approach

Yuxiang Sun, Ming Liu, Max Q.H. Meng

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PublisherIEEE
Pages1377-1382
Number of pages6
ISBN (Electronic)9781467396745
DOIs
Publication statusPublished - 2015
EventIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015 - Zhuhai, China
Duration: 6 Dec 20159 Dec 2015

Publication series

Name2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015

Conference

ConferenceIEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
CountryChina
CityZhuhai
Period6/12/159/12/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Hardware and Architecture
  • Control and Systems Engineering

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