Moving object detection from moving camera image sequences using an inertial measurement unit sensor

Sukwoo Jung, Youngmok Cho, Doojun Kim, Minho Chang

Research output: Contribution to journalArticle

Abstract

This paper describes a new method for the detection of moving objects from moving camera image sequences using an inertial measurement unit (IMU) sensor. Motion detection systems with vision sensors have become a global research subject recently. However, detecting moving objects from a moving camera is a difficult task because of egomotion. In the proposed method, the interesting points are extracted by a Harris detector, and the background and foreground are classified by epipolar geometry. In this procedure, an IMU sensor is used to calculate the initial fundamental matrix. After the feature point classification, a transformation matrix is obtained from matching background feature points. Image registration is then applied to the consecutive images, and a difference map is extracted to find the foreground region. Finally, a minimum bounding box is applied to mark the detected moving object. The proposed method is implemented and tested with numerous real-world driving videos, which show that it outperforms the previous work.

Original languageEnglish
Article number268
JournalApplied Sciences (Switzerland)
Volume10
Issue number1
DOIs
Publication statusPublished - 2020 Jan 1

Keywords

  • Image processing
  • Motion estimation
  • Moving camera
  • Moving object detection

ASJC Scopus subject areas

  • Materials Science(all)
  • Instrumentation
  • Engineering(all)
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes

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