A Moving Object Detection Method for Mobile Robots Using Feature Point Sticky Tree

20 Pages Posted: 27 Dec 2021

See all articles by Jun Luo

Jun Luo

Shanghai University

Shujie Zhou

Shanghai University

Jie Zhu

Shanghai University

Yangmin Xie

Shanghai University

Abstract

Moving object detection is a common task for mobile robots when working in dynamic environments. Due to the nonstatic nature of the mobile robots themselves, we need to conduct the motion detection work under the moving camera assumption. Feature-point-based object detection is an important research direction to solve this problem. The distances and motion conditions of the feature points in both 2D image space and 3D physical space are critical criteria to cluster the points to objects. However, previous work never fully considered all the criteria and explored their complex relationship with object segmentation outputs. As a result, accurate segmentation can not be achieved when the differentiation condition only presents in part of the criteria space. Therefore, we proposed a novel feature point stickiness method to include all the above considerations. A fuzzy neural network is designed to assess the stickiness between any feature points, e.g., the possibility of being on the same object. The network is trained with small data set to capture the complex nonlinear relationship between the point distance and motions and the stickiness. In addition, a sticky tree growth algorithm is used to connect the feature points according to their stickiness distributions. The formation of the trees autonomously completes the object segmentation task. The method is testified in various experimental situations, including some challenging scenarios. It improved the object recall rate and precision rate to a large extent compared to previous works and showed high potential in providing precise trajectories of moving objects in the robot’s workspace.

Keywords: moving object detection, feature points, sticky tree, moving camera

Suggested Citation

Luo, Jun and Zhou, Shujie and Zhu, Jie and Xie, Yangmin, A Moving Object Detection Method for Mobile Robots Using Feature Point Sticky Tree. Available at SSRN: https://ssrn.com/abstract=3994131 or http://dx.doi.org/10.2139/ssrn.3994131

Jun Luo

Shanghai University ( email )

149 Yanchang Road
SHANGDA ROAD 99
Shanghai 200072, 200444
China

Shujie Zhou

Shanghai University ( email )

149 Yanchang Road
SHANGDA ROAD 99
Shanghai 200072, 200444
China

Jie Zhu

Shanghai University ( email )

149 Yanchang Road
SHANGDA ROAD 99
Shanghai 200072, 200444
China

Yangmin Xie (Contact Author)

Shanghai University ( email )

149 Yanchang Road
SHANGDA ROAD 99
Shanghai 200072, 200444
China

Do you have a job opening that you would like to promote on SSRN?

Paper statistics

Downloads
52
Abstract Views
262
Rank
780,676
PlumX Metrics