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29 October 1996 Detection of moving targets using approximate knowledge of camera motion
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Abstract
Rapid detection of independently moving objects by a moving camera system is essential for automatic target recognition (ATR). The image analysis performed by the ATR system must be able to clearly distinguish between the image flow generated by the changing position of the camera and the movement of potential targets. In this paper, a qualitative motion detection algorithm that can deal with imprecise knowledge of camera movement is described. This algorithm is based on the notion that the true velocity at any point on an image, arising from a camera moving through a rigid environment, will lie on a 1D locus in the vx - v(subscript y$. velocity space. Each point on this line maps a constraint circle that represents all components of the true velocity that are parallel to the direction of the spatial gray-scale gradient. If the camera motion is known, then an independently moving target can be detected because the corresponding gradient-parallel components of velocity are unlikely to fall in the constraint region arising from the union of all the circles generated by the points along the 1D locus. The algorithm is made more robust by modeling the projected camera velocities as radial fuzzy sets with supports in the 2D velocity space. Approximate knowledge of the translational and rotational components of camera motion can be used to define the parameters of the corresponding fuzzy constraint region. In terms of detecting independently moving targets, the algorithm tags the gradient-parallel velocity vectors that violate this fuzzy constraint on camera motion. An estimate of the true velocity is computed only at the pixel locations that violate the constraint. To illustrate this approach, a simulation study involving a translating camera system and an independently moving target is presented.
© (1996) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
George K. Knopf and Shiping Zhu "Detection of moving targets using approximate knowledge of camera motion", Proc. SPIE 2904, Intelligent Robots and Computer Vision XV: Algorithms, Techniques,Active Vision, and Materials Handling, (29 October 1996); https://doi.org/10.1117/12.256304
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