scholarly journals Moving-object detection and tracking by scanning LiDAR mounted on motorcycle based on dynamic background subtraction

2021 ◽  
Author(s):  
Shotaro Muro ◽  
Ibuki Yoshida ◽  
Masafumi Hashimoto ◽  
Kazuhiko Takahashi
Keyword(s):  
Object Detection ◽  
Moving Object Detection ◽  
Moving Object ◽  
Global Navigation Satellite Systems ◽  
Measurement Unit ◽  
Dynamic Background ◽  
Object Detection And Tracking ◽  
Detection And Tracking ◽  
Scanning Lidar ◽  
Scan Data

AbstractThis paper presents a method for moving-object detection and tracking (DATMO) in global navigation satellite systems (GNSS)-denied environments using a light detection and ranging (LiDAR) mounted on a motorcycle. Distortion in the scanning LiDAR data is corrected by estimating the pose (3D positions and attitude angles) of the motorcycle in a period shorter than the LiDAR scan period using normal distributions transform-based simultaneous localization and mapping (NDT-based SLAM) and the information from an inertial measurement unit (IMU) via the extended Kalman filter (EKF). The scan data of interest are extracted by subtracting the local environment map generated by NDT-based SLAM from the LiDAR scan data. Moving objects are detected from the scan data of interest using an occupancy grid method and are tracked with a Bayesian filter. Experimental results obtained from public road and university campus environments demonstrate the effectiveness of the proposed method.

Moving Object Detection and Tracking Based on the Contour Extraction and Centroid Representation

2019 ◽  
pp. 147-157
Author(s):  
Naveenkumar M ◽  
Sriharsha K. V. ◽  
Vadivel A
Keyword(s):  
Object Detection ◽  
Motion Tracking ◽  
Moving Object Detection ◽  
Moving Object ◽  
Absolute Difference ◽  
Contour Extraction ◽  
Object Detection And Tracking ◽  
Detection And Tracking ◽  
Novel Approach ◽  
Extraction Algorithm

This chapter presents a novel approach for moving object detection and tracking based on contour extraction and centroid representation (CECR). Firstly, two consecutive frames are read from the video, and they are converted into grayscale. Next, the absolute difference is calculated between them and the result frame is converted into binary by applying gray threshold technique. The binary frame is segmented using contour extraction algorithm. The centroid representation is used for motion tracking. In the second stage of experiment, initially object is detected by using CECR and motion of each track is estimated by Kalman filter. Experimental results show that the proposed method can robustly detect and track the moving object.

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