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Optical flow or image subtraction in human detection from infrared camera on mobile robot

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dc.contributor.author Martínez Cantos, Javier es_ES
dc.contributor.author Fernández Caballero, Antonio es_ES
dc.contributor.author Castillo Montoya, José Carlos es_ES
dc.contributor.author Martínez Tomás, Rafael es_ES
dc.date.accessioned 2012-03-20T07:11:09Z
dc.date.available 2012-03-20T07:11:09Z
dc.date.issued 2010 es_ES
dc.identifier.citation Robotics and autonomous systems, 2010, 58(12): 1273-1281 es_ES
dc.identifier.issn 0921-8890 es_ES
dc.identifier.uri http://hdl.handle.net/10578/2101
dc.description.abstract Perceiving the environment is crucial in any application related to mobile robotics research. In this paper, a new approach to real-time human detection through processing video captured by a thermal infrared camera mounted on the autonomous mobile platform mSecuritTM is introduced. The approach starts with a phase of static analysis for the detection of human candidates through some classical image processing techniques such as image normalization and thresholding. Then, the proposal starts a dynamic image analysis phase based in optical flow or image difference. Optical flow is used when the robot is moving, whilst image difference is the preferred method when the mobile platform is still. The results of both phases are compared to enhance the human segmentation by infrared camera. Indeed, optical flow or image difference will emphasize the foreground hot spot areas obtained at the initial human candidates? detection. es_ES
dc.format text/plain en_US
dc.language.iso es en_US
dc.rights info:eu-repo/semantics/openAccess en_US
dc.subject Ingenierías es_ES
dc.title Optical flow or image subtraction in human detection from infrared camera on mobile robot es_ES
dc.type info:eu-repo/semantics/article en_US

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