%0 Conference Proceedings
%T Registration-based Moving Object Detection from a Moving Camera
%A Angel Sappa
%A Fadi Dornaika
%A David Geronimo
%A Antonio Lopez
%B IROS2008 2nd Workshop on Perception, Planning and Navigation for Intelligent Vehicles
%D 2008
%F Angel Sappa2008
%O ADAS
%O exported from refbase (http://refbase.cvc.uab.es/show.php?record=1017), last updated on Thu, 10 Oct 2013 12:36:26 +0200
%X This paper presents a robust approach for detecting moving objects from on-board stereo vision systems. It relies on a feature point quaternion-based registration, which avoids common problems that appear when computationally expensive iterative-based algorithms are used on dynamic environments. The proposed approach consists of three stages. Initially, feature points are extracted and tracked through consecutive frames. Then, a RANSAC based approach is used for registeringtwo 3D point sets with known correspondences by means of the quaternion method. Finally, the computed 3D rigid displacement is used to map two consecutive frames into the same coordinate system. Moving objects correspond to those areas with large registration errors. Experimental results, in different scenarios, show the viability of the proposed approach.
%U http://www.cvc.uab.es/adas/publications/sappa_iros2008.pdf
%U http://refbase.cvc.uab.es/files/SDG2008.pdf
%P 65–69