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Published in:
2014 | OriginalPaper | Chapter
Human Detection from Mobile Omnidirectional Camera Using Ego-Motion Compensated
Authors : Joko Hariyono, Van-Dung Hoang, Kang-Hyun Jo
Published in: Intelligent Information and Database Systems
Publisher: Springer International Publishing
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This paper presents a human detection method using optical flows in an image obtained from an omnidirectional camera mounted in a mobile robot. To detect human region from a mobile omnidirectional camera achieved through several steps. First, a method for detection moving objects using frame difference. Then ego-motion compensated is applied in order to deal with noise caused by moving camera. In this step an image divides as grid windows then compute each affine transform for each window. Human shape as moving object is detected from the background transformation-compensated using every local affine transformation for each local window. Second, in order to localize the region as a human or not, histogram vertical projection is applied with specific threshold. The experimental results show the proposed method achieved comparable result comparing with similar methods, with 87.4% in detection rate and less than 10% in false positive detection.