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Moving object detection by mobile Stereo Omni-directional System (SOS) using spherical depth image

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Abstract

Moving object detection with a mobile image sensor is an important task for mobile surveillance systems running in real environments. In this paper, we propose a novel method to effectively solve this problem by using a Stereo Omni-directional System (SOS), which can obtain both color and depth images of the environment in real time with a complete spherical field of view. Taking advantage of the SOS that the frame-out problem never occurs, we develop a method to detect the regions of moving objects stably under arbitrary movement and pose change of the SOS, by using the spherical depth image sequence obtained by the SOS. The method first predicts the depth image for the current time from that obtained at the previous time and the ego-motion of the SOS, and then detects moving objects by comparing the predicted depth image with the actual one obtained at the current time.

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Authors and Affiliations

  1. Research and Development Division, Softopia Japan, 4-1-7 Kagano, Ogaki, Gifu, 503-8569, Japan

    Sanae Shimizu, Caihua Wang & Yoshinori Niwa

  2. Department of Information Science, Faculty of Engineering, Gifu University, 1-1 Yanaido, Gifu, 501-1193, Japan

    Sanae Shimizu & Kazuhiko Yamamoto

  3. Information Technology Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Central2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568, Japan

    Yutaka Satoh

  4. Information System Division, IMIT-Gifu, 4-179-19 Sue, Kakamigahara, Gifu, 509-0108, Japan

    Hideki Tanahashi

Authors
  1. Sanae Shimizu
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  2. Kazuhiko Yamamoto
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  3. Caihua Wang
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  4. Yutaka Satoh
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  5. Hideki Tanahashi
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  6. Yoshinori Niwa
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Correspondence to Sanae Shimizu.

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Shimizu, S., Yamamoto, K., Wang, C. et al. Moving object detection by mobile Stereo Omni-directional System (SOS) using spherical depth image. Pattern Anal Applic 9, 113–126 (2006). https://doi.org/10.1007/s10044-005-0008-4

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  • DOI: https://doi.org/10.1007/s10044-005-0008-4

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