Entropy-based motion segmentation from a moving platform

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

The forward moving target segmentation from a moving platform with a pinhole camera is an important and relatively unexplored problem in visual tracking. This paper proposes a novel segmentation algorithm for extracting a moving target when using a moving platform (that follows a similar trajectory and has a camera that is not calibrated for the particular scene). When the target has unpredictable motions, we are unable to model it and the pertinent backgrounds are very different. We introduce a new entropy-based clustering algorithm in order to find a bounding box representing the target. A target model based on graph representation is used for matching the moving target. To demonstrate the robust target segmentation scheme, we apply the method to a team of miniature robots (the Explorers developed at the University of Minnesota) in real tracking missions.

Original languageEnglish (US)
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages4559-4564
Number of pages6
DOIs
StatePublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

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