Skip to main content
Top
Published in: Machine Vision and Applications 6/2014

01-08-2014 | Original Paper

Background subtraction by combining Temporal and Spatio-Temporal histograms in the presence of camera movement

Authors: Andrea Romanoni, Matteo Matteucci, Domenico G. Sorrenti

Published in: Machine Vision and Applications | Issue 6/2014

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

Background subtraction is the classical approach to differentiate moving objects in a scene from the static background when the camera is fixed. If the fixed camera assumption does not hold, a frame registration step is followed by the background subtraction. However, this registration step cannot perfectly compensate camera motion, thus errors like translations of pixels from their true registered position occur. In this paper, we overcome these errors with a simple, but effective background subtraction algorithm that combines Temporal and Spatio-Temporal approaches. The former models the temporal intensity distribution of each individual pixel. The latter classifies foreground and background pixels, taking into account the intensity distribution of each pixels’ neighborhood. The experimental results show that our algorithm outperforms the state-of-the-art systems in the presence of jitter, in spite of its simplicity.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Footnotes
1
If TP are true positives, FP are false positives, FN are false negatives and TN are true negatives, then: \(\hbox {recall }= \frac{TP}{TP + FN};\hbox {specificity} = \frac{TN}{TN + FP};\hbox { FPR}= \frac{FP}{FP + TN};\hbox { FNR}= \frac{FN}{TP + FN};\hbox { PWC} = 100 * \frac{(FN + FP)}{TP + FN + FP + TN};\hbox { F-Measure} = \frac{2 * \text {precision}* \text {recall}}{\text {precision} + \text {recall}};\hbox { precision} = \frac{TP}{TP + FP}\).
 
Literature
1.
go back to reference Azzari, P., Stefano, L.D., Bevilacqua, A.: An effective real-time mosaicing algorithm apt to detect motion through background subtraction using a PTZ camera. In: IEEE Conference on Advanced Video and Signal Based Surveillance, 2005. AVSS 2005, pp. 511–516 (2005). doi:10.1109/AVSS.2005.1577321 Azzari, P., Stefano, L.D., Bevilacqua, A.: An effective real-time mosaicing algorithm apt to detect motion through background subtraction using a PTZ camera. In: IEEE Conference on Advanced Video and Signal Based Surveillance, 2005. AVSS 2005, pp. 511–516 (2005). doi:10.​1109/​AVSS.​2005.​1577321
2.
go back to reference Benezeth, Y., Jodoin, P., Emile, B., Laurent, H., Rosenberger, C.: Review and evaluation of commonly-implemented background subtraction algorithms. In: 19th International Conference on Pattern Recognition, 2008. ICPR 2008, pp. 1–4 (2008). doi:10.1109/ICPR.2008.4760998 Benezeth, Y., Jodoin, P., Emile, B., Laurent, H., Rosenberger, C.: Review and evaluation of commonly-implemented background subtraction algorithms. In: 19th International Conference on Pattern Recognition, 2008. ICPR 2008, pp. 1–4 (2008). doi:10.​1109/​ICPR.​2008.​4760998
3.
go back to reference Bhattacharyya, A.: On a measure of divergence between two multinomial populations. Sankhyā Indian J. Stat. (1933–1960) 7(4), 401–406 (1946) Bhattacharyya, A.: On a measure of divergence between two multinomial populations. Sankhyā Indian J. Stat. (1933–1960) 7(4), 401–406 (1946)
4.
go back to reference Brutzer, S., Hoferlin, B., Heidemann, G.: Evaluation of background subtraction techniques for video surveillance. In: 2011 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 1937–1944 (2011). doi:10.1109/CVPR.2011.5995508 Brutzer, S., Hoferlin, B., Heidemann, G.: Evaluation of background subtraction techniques for video surveillance. In: 2011 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 1937–1944 (2011). doi:10.​1109/​CVPR.​2011.​5995508
5.
go back to reference Cheung, S.S., Kamath, C.: Robust techniques for background subtraction in urban traffic video. In: Proc. SPIE, Visual communications and image processing, 2004, vol. 5308, pp. 881–898 (2004). doi:10.1117/12.526886 Cheung, S.S., Kamath, C.: Robust techniques for background subtraction in urban traffic video. In: Proc. SPIE, Visual communications and image processing, 2004, vol. 5308, pp. 881–898 (2004). doi:10.​1117/​12.​526886
6.
go back to reference Cristani, M., Farenzena, M., Bloisi, D., Murino, V.: Background subtraction for automated multisensor surveillance: a comprehensive review. EURASIP J. Adv. Signal Process 2010, 43:1–43:24 (2010). doi:10.1155/2010/343057 CrossRef Cristani, M., Farenzena, M., Bloisi, D., Murino, V.: Background subtraction for automated multisensor surveillance: a comprehensive review. EURASIP J. Adv. Signal Process 2010, 43:1–43:24 (2010). doi:10.​1155/​2010/​343057 CrossRef
7.
go back to reference Elgammal, A., Harwood, D., Davis: Non-parametric model for background subtraction. In: IEEE ICCV Frame-Rate Workshop (1999) Elgammal, A., Harwood, D., Davis: Non-parametric model for background subtraction. In: IEEE ICCV Frame-Rate Workshop (1999)
8.
go back to reference Fischler, M.A., Bolles, R.C.: Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Commun. ACM 24(6), 381–395 (1981)CrossRefMathSciNet Fischler, M.A., Bolles, R.C.: Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography. Commun. ACM 24(6), 381–395 (1981)CrossRefMathSciNet
9.
go back to reference Goyette, N., Jodoin, P., Porikli, F., Konrad, J., Ishwar, P.: Changedetection.net: A new change detection benchmark dataset. In: 2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), pp. 1–8 (2012). doi:10.1109/CVPRW.2012.6238919 Goyette, N., Jodoin, P., Porikli, F., Konrad, J., Ishwar, P.: Changedetection.net: A new change detection benchmark dataset. In: 2012 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), pp. 1–8 (2012). doi:10.​1109/​CVPRW.​2012.​6238919
10.
go back to reference Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision, vol. 2. Cambridge University Press, Cambridge (2000)MATH Hartley, R., Zisserman, A.: Multiple View Geometry in Computer Vision, vol. 2. Cambridge University Press, Cambridge (2000)MATH
11.
go back to reference Hayman, E., Eklundh, J.: Statistical background subtraction for a mobile observer. In: Proceedings of the Ninth IEEE International Conference on Computer Vision, 2003, pp. 67–74. IEEE, New York (2003) Hayman, E., Eklundh, J.: Statistical background subtraction for a mobile observer. In: Proceedings of the Ninth IEEE International Conference on Computer Vision, 2003, pp. 67–74. IEEE, New York (2003)
12.
go back to reference Irani, M., Anandan, P.: A unified approach to moving object detection in 2D and 3D scenes. IEEE Trans. Pattern Anal. Mach. Intell. 20(6), 577–589 (1998). doi:10.1109/34.683770 CrossRef Irani, M., Anandan, P.: A unified approach to moving object detection in 2D and 3D scenes. IEEE Trans. Pattern Anal. Mach. Intell. 20(6), 577–589 (1998). doi:10.​1109/​34.​683770 CrossRef
13.
go back to reference Jin, Y., Tao, L., Di, H., Rao, N., Xu, G.: Background modeling from a free-moving camera by multi-layer homography algorithm. In: 15th IEEE International Conference on Image Processing, 2008. ICIP 2008, pp. 1572–1575 (2008). doi:10.1109/ICIP.2008.4712069 Jin, Y., Tao, L., Di, H., Rao, N., Xu, G.: Background modeling from a free-moving camera by multi-layer homography algorithm. In: 15th IEEE International Conference on Image Processing, 2008. ICIP 2008, pp. 1572–1575 (2008). doi:10.​1109/​ICIP.​2008.​4712069
14.
go back to reference Kwak, S., Lim, T., Nam, W., Han, B., Han, J.H.: Generalized background subtraction based on hybrid inference by belief propagation and Bayesian filtering. In: 2011 IEEE International Conference on Computer Vision (ICCV), pp. 2174–2181 (2011). doi:10.1109/ICCV.2011.6126494 Kwak, S., Lim, T., Nam, W., Han, B., Han, J.H.: Generalized background subtraction based on hybrid inference by belief propagation and Bayesian filtering. In: 2011 IEEE International Conference on Computer Vision (ICCV), pp. 2174–2181 (2011). doi:10.​1109/​ICCV.​2011.​6126494
15.
go back to reference Li, B., Yuan, B., Miao, Z.: Moving object detection in dynamic scenes using nonparametric local kernel histogram estimation. In: 2008 IEEE International Conference on Multimedia and Expo, pp. 1461–1464 (2008). doi:10.1109/ICME.2008.4607721 Li, B., Yuan, B., Miao, Z.: Moving object detection in dynamic scenes using nonparametric local kernel histogram estimation. In: 2008 IEEE International Conference on Multimedia and Expo, pp. 1461–1464 (2008). doi:10.​1109/​ICME.​2008.​4607721
16.
go back to reference Migliore, D.A., Matteucci, M., Naccari, M.: A revaluation of frame difference in fast and robust motion detection. In: Proceedings of the 4th ACM International Workshop on Video Surveillance and Sensor Networks, VSSN ’06, pp. 215–218. ACM, New York (2006). doi:10.1145/1178782.1178815 Migliore, D.A., Matteucci, M., Naccari, M.: A revaluation of frame difference in fast and robust motion detection. In: Proceedings of the 4th ACM International Workshop on Video Surveillance and Sensor Networks, VSSN ’06, pp. 215–218. ACM, New York (2006). doi:10.​1145/​1178782.​1178815
17.
go back to reference Mittal, A., Huttenlocher, D.: Scene modeling for wide area surveillance and image synthesis. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2000, vol. 2, pp. 160–167 (2000). doi:10.1109/CVPR.2000.854767 Mittal, A., Huttenlocher, D.: Scene modeling for wide area surveillance and image synthesis. In: Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, 2000, vol. 2, pp. 160–167 (2000). doi:10.​1109/​CVPR.​2000.​854767
18.
20.
go back to reference Sawhney, H., Guo, Y., Asmuth, J., Kumar, R.: Independent motion detection in 3D scenes. In: Proceedings of the Seventh IEEE International Conference on Computer Vision, 1999, vol. 1, pp. 612–619 (1999). doi:10.1109/ICCV.1999.791281 Sawhney, H., Guo, Y., Asmuth, J., Kumar, R.: Independent motion detection in 3D scenes. In: Proceedings of the Seventh IEEE International Conference on Computer Vision, 1999, vol. 1, pp. 612–619 (1999). doi:10.​1109/​ICCV.​1999.​791281
21.
go back to reference Sheikh, Y., Javed, O., Kanade, T.: Background Subtraction for freely moving cameras. In: 2009 IEEE 12th International Conference on Computer Vision, vol. 2, pp. 1219–1225 (2009). doi:10.1109/ICCV.2009.5459334 Sheikh, Y., Javed, O., Kanade, T.: Background Subtraction for freely moving cameras. In: 2009 IEEE 12th International Conference on Computer Vision, vol. 2, pp. 1219–1225 (2009). doi:10.​1109/​ICCV.​2009.​5459334
22.
go back to reference Shi, J., Tomasi, C.: Good features to track. In: 1994 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 1994. Proceedings CVPR’94, pp. 593–600. IEEE, New York (1994) Shi, J., Tomasi, C.: Good features to track. In: 1994 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 1994. Proceedings CVPR’94, pp. 593–600. IEEE, New York (1994)
23.
go back to reference Stauffer, C., Grimson, W.: Adaptive background mixture models for real-time tracking. In: IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 1999, vol. 2, pp. 2 vol. (xxiii+637+663) (1999). doi:10.1109/CVPR.1999.784637 Stauffer, C., Grimson, W.: Adaptive background mixture models for real-time tracking. In: IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 1999, vol. 2, pp. 2 vol. (xxiii+637+663) (1999). doi:10.​1109/​CVPR.​1999.​784637
24.
go back to reference Sugaya, Y., Kanatani, K.: Extracting Moving Objects from a Moving Camera Video Sequence. In: 10th Symposium on Sensing via Image Information, pp. 279–284 (2004) Sugaya, Y., Kanatani, K.: Extracting Moving Objects from a Moving Camera Video Sequence. In: 10th Symposium on Sensing via Image Information, pp. 279–284 (2004)
25.
go back to reference Trucco, E., Verri, A.: Introductory Techniques for 3-D Computer Vision, vol. 93. Prentice Hall, New York (1998) Trucco, E., Verri, A.: Introductory Techniques for 3-D Computer Vision, vol. 93. Prentice Hall, New York (1998)
26.
go back to reference Yuan, C., Medioni, G., Kang, J., Cohen, I.: Detecting motion regions in the presence of a strong parallax from a moving camera by multiview geometric constraints. IEEE Trans. Pattern Anal. Mach. Intell. 29(9), 1627–1641 (2007). doi:10.1109/TPAMI.2007.1084 CrossRef Yuan, C., Medioni, G., Kang, J., Cohen, I.: Detecting motion regions in the presence of a strong parallax from a moving camera by multiview geometric constraints. IEEE Trans. Pattern Anal. Mach. Intell. 29(9), 1627–1641 (2007). doi:10.​1109/​TPAMI.​2007.​1084 CrossRef
Metadata
Title
Background subtraction by combining Temporal and Spatio-Temporal histograms in the presence of camera movement
Authors
Andrea Romanoni
Matteo Matteucci
Domenico G. Sorrenti
Publication date
01-08-2014
Publisher
Springer Berlin Heidelberg
Published in
Machine Vision and Applications / Issue 6/2014
Print ISSN: 0932-8092
Electronic ISSN: 1432-1769
DOI
https://doi.org/10.1007/s00138-013-0587-9

Other articles of this Issue 6/2014

Machine Vision and Applications 6/2014 Go to the issue

Premium Partner