华中科技大学学报（自然科学版）2011，Vol.39Issue(z2)：212-215,4.
移动机器人室内运动目标检测的一种新方法
A new method of moving object detection for indoor mobile robot
摘要
Abstract
A new method of moving object detection in indoor environment was proposed in this paper. This method can effectively overcome strong light changing and can accurately detect and extract moving indoor objects. First, images in the form of RGB (red-green-blue) are transformed into the form of HIS (hue-saturation-intensity) for better image processing; then, strong light changing in indoor environment is overcome based on background difference and frame difference; finally, moving objects in indoor environment are accurately extracted with reasonable using of background difference and frame difference. The core of the method is that the accuracy of moving object detection in indoor environment is greatly improved through effective using of background difference and frame difference in HIS model. With experiments, it is proved that the method proposed in this paper is effective and reliable.关键词
机器人视觉/室内机器人/运动检测/目标跟踪/光线突变Key words
robot vision/ indoor robot/ motion detection/ object tracking/ sudden light changing分类
信息技术与安全科学引用本文复制引用
苏丽颖,王树才,余跃庆..移动机器人室内运动目标检测的一种新方法[J].华中科技大学学报（自然科学版）,2011,39(z2):212-215,4.基金项目
国家自然科学基金资助项目(60705036) （60705036）
北京市教委科技基金资助项目(KM201010005004) （KM201010005004）
北京工业大学基础研究基金资助项目. （）
