Omni-directional Vision based Human Motion Detection for Autonomous Mobile Robots

Hong Liu, Ning Dong, Hongbin Zha
2005 IEEE International Conference on Systems, Man and Cybernetics  
This paper presents a novel human motion detection system using an omni-camera on a platform of autonomous mobile robot. Compared with other related works, the system using an omni-directional camera provides a larger FOV (Field of View) for motion detection, and makes a better effect using temporal differencing method based on compensation for egomotion. Furthermore, the method, respectively combined with color information and feature points on human body, is employed to determine human motion
more » ... contours, which consequently improves the performance of the temporal differencing method. Experimental results show that the system provides an efficient way to track human motion in an indoor environment.
doi:10.1109/icsmc.2005.1571481 dblp:conf/smc/LiuDZ05 fatcat:sexsiyf4njdofhgx5fgeifh4gu