Motion Detection and Tracking by Autonomous Mobile robot in Indoor Environment

Abstract

In this current work, we are concerned with the robust detection of moving objects in videos taken from an mobile robot. The main task is to compensate the motion of the observer by estimating the Homography between two successive frames and detect the independent motion of the moving ground target in the image. To determine the 3-D position of the target using the stereovision and applied the classical controller to track the target (human), finally, we give some results of our detecting algorithms in the indoor environment using the fast frame differencing method. This result shows the effectiveness of the vision system.