Robust Detection of Moving Objects by a Moving Observer on Planar Surfaces

We introduce a technique for deiiecting moving objects from an image sequence obtained with a moving camera using the planarity constraint. To increase the robustness of this technique, false motion caused by inaccuracies in sensor readings is elimin.ated by use of a morphological filter. This involves ,tw80successive operations - erosion and dilation -- .performed on a motion compensated image. Experimental results with real images are presented. Applications to the compression of moving images are now being investigated.

• Type: Conference
• Year: 1995
• Where: ICRA
• Authors: Ashraf Elnagar, Anup Basu
• Keywords: ICRA 1995, Image Sequence, Motion Compensated Image, Planarity Constraint, Robotics