Moving Object Detection Using a Stereo Camera Mounted on a Moving Platform

Abstract

In this paper, we propose a method for detecting moving objects using a moving stereo camera. First, the camera motion parameters are estimated by using optical flow with a stereo camera. Second, the optical flow occurring in the background is removed. Finally, moving objects are detected individually by labeling the remaining optical flow. The proposed method is evaluated through experiments using two pedestrians in an indoor environment.

Keywords

• moving object detection
• stereo camera
• optical flow