Pan-Tilt Camera and PIR Sensor Fusion Based Moving Object Detection for Mobile Security Robots
Pan-Tilt Camera and PIR Sensor Fusion Based Moving Object Detection for Mobile Security Robots
复制标题
基于云台摄像头和 PIR 传感器融合的移动安全机器人移动物体检测
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
GyongIl Ryang
中科院分区：
文献类型：
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作者：
YongChol Sin;M. Choe;GyongIl Ryang
安全机器人的基本问题之一是检测和跟踪周围的人。这项任务的主要问题是实时约束、不断变化的背景、变化的照明条件以及要跟踪的人的非刚性形状。在本文中，我们提出了一种使用云台摄像机和被动红外距离（PIR）传感器进行跟踪的解决方案，以根据连续帧差异检测移动物体。所提出的方法具有出色的实时性能，因为它只需要很少的内存和计算。实验结果表明，该方法能够在非静止、复杂的室内环境中高效、准确地检测出人体等运动物体。
One of fundamental issues for security robots is to detect and track people in the surroundings. The main problems of this task are real-time constraints, a changing background, varying illumination conditions and a non-rigid shape of the person to be tracked. In this paper, we propose a solution for tracking with a pan-tilt camera and a passive infrared range (PIR) sensor to detect the moving object based on consecutive frame difference. The proposed method is excellent in real-time performance because it requires only a little memory and computation. Experiment results show that this method can detect the moving object such as human efficiently and accurately in non-stationary and complex indoor environment.
DOI：
10.1109/icarcv.2006.345264
发表时间：
2006-12
期刊：
2006 9th International Conference on Control, Automation, Robotics and Vision
影响因子：
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作者：
K. Kinoshita;Masaya Enokidani;M. Izumida;K. Murakami
通讯作者：
K. Kinoshita;Masaya Enokidani;M. Izumida;K. Murakami