Robust Object Detection based on Radial Reach Filter for Mobile Robots

Technique of image processing to detect moving objects on time series images is important subject in the fields of environmental monitoring and rescue system which used a mobile robot. In the past, it is difficult to detect the moving objects by the effects of changes in brightness which caused by the sunlight and measure positions of the moving objects by the change of region of the moving objects. Then, we proposed a detection and tracking method of the moving objects considering the renewal of a background based on radial reach filter. However, the change of size of the moving objects on the image, that is, the movement in direction of an optical axis was not considered. Then, we propose a method which compares the features of pixels between the images in the change of size of moving object for calculation of motion vectors. Through the experiment using the real images, this paper shows validity of proposed method