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Moving Object Detection from Mobile Platforms Using Stereo Data Registration

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Computational Intelligence Paradigms in Advanced Pattern Classification

Part of the book series: Studies in Computational Intelligence ((SCI,volume 386))

Abstract

This chapter describes 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 main stages. Initially, feature points are extracted and tracked through consecutive 2D frames. Then, a RANSAC based approach is used for registering two point sets, with known correspondences in the 3D space. The computed 3D rigid displacement is used to map two consecutive 3D point clouds into the same coordinate system by means of the quaternion method. Finally, moving objects correspond to those areas with large 3D registration errors. Experimental results show the viability of the proposed approach to detect moving objects like vehicles or pedestrians in different urban scenarios.

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Author information

Authors and Affiliations

  1. Computer Vision Center, Universitat Autònoma de Barcelona, 08193, Bellaterra, Barcelona, Spain

    Angel D. Sappa, David Gerónimo, Mohammad Rouhani & Antonio M. López

  2. Computer Science Department, Universitat Autònoma de Barcelona, 08193, Bellaterra, Barcelona, Spain

    David Gerónimo & Antonio M. López

  3. University of the Basque Country, San Sebastian, Spain

    Fadi Dornaika

  4. IKERBASQUE, Basque Foundation for Science, Bilbao, Spain

    Fadi Dornaika

Authors
  1. Angel D. Sappa
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  2. David Gerónimo
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  3. Fadi Dornaika
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  4. Mohammad Rouhani
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  5. Antonio M. López
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Corresponding author

Correspondence to Angel D. Sappa .

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Editors and Affiliations

  1. , Institute of Automatics, AGH University of Science and Technology, 30 Mickiewicza Ave, Krakow, 30-059, Poland

    Marek R. Ogiela

  2. , School of Electrical and Information, University of South Australia, Adelaide, SA 5095, Australia

    Lakhmi C Jain

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© 2012 Springer Berlin Heidelberg

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Sappa, A.D., Gerónimo, D., Dornaika, F., Rouhani, M., López, A.M. (2012). Moving Object Detection from Mobile Platforms Using Stereo Data Registration. In: Ogiela, M., Jain, L. (eds) Computational Intelligence Paradigms in Advanced Pattern Classification. Studies in Computational Intelligence, vol 386. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-24049-2_3

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  • DOI: https://doi.org/10.1007/978-3-642-24049-2_3

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-24048-5

  • Online ISBN: 978-3-642-24049-2

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