Detection and Tracking of Moving Image Features Using Moving Cameras

• Main Authors: Yi-Jhan Huang, 黃逸展
• Other Authors: Yin-Tien Wang
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/71834872153450640610

碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 101 === This thesis presents an algorithm of moving object detection and tracking using moving cameras. The developed algorithm is applied to robot simultaneous localization, mapping, and moving object tracking. The research focuses on the development of procedures for moving feature detection and tracking. In this thesis, three methods are investigated and tested, namely the methods of detecting non-static objects, moving objects, and generalized objects. Non-static object method is the procedure in the literature which distinguishes non-static image features from stationary features based on the essential matrix calculation. However, some moving features could not be detected due to the restriction on feature number in one image. The moving-object and generalized-object methods are proposed in this thesis. The moving-object method releases the restriction on feature number in an image and detects all possible moving objects by using multiple filtering processes. The generalized-object method estimates the state variables of all image features and provide the state information for the detection of moving and stationary features.