TY - GEN
T1 - Entropy-based motion segmentation from a moving platform
AU - Min, Hyeun Jeong
AU - Papanikolopoulos, Nikolaos
PY - 2009/12/11
Y1 - 2009/12/11
N2 - The forward moving target segmentation from a moving platform with a pinhole camera is an important and relatively unexplored problem in visual tracking. This paper proposes a novel segmentation algorithm for extracting a moving target when using a moving platform (that follows a similar trajectory and has a camera that is not calibrated for the particular scene). When the target has unpredictable motions, we are unable to model it and the pertinent backgrounds are very different. We introduce a new entropy-based clustering algorithm in order to find a bounding box representing the target. A target model based on graph representation is used for matching the moving target. To demonstrate the robust target segmentation scheme, we apply the method to a team of miniature robots (the Explorers developed at the University of Minnesota) in real tracking missions.
AB - The forward moving target segmentation from a moving platform with a pinhole camera is an important and relatively unexplored problem in visual tracking. This paper proposes a novel segmentation algorithm for extracting a moving target when using a moving platform (that follows a similar trajectory and has a camera that is not calibrated for the particular scene). When the target has unpredictable motions, we are unable to model it and the pertinent backgrounds are very different. We introduce a new entropy-based clustering algorithm in order to find a bounding box representing the target. A target model based on graph representation is used for matching the moving target. To demonstrate the robust target segmentation scheme, we apply the method to a team of miniature robots (the Explorers developed at the University of Minnesota) in real tracking missions.
UR - http://www.scopus.com/inward/record.url?scp=76249088575&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=76249088575&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5354832
DO - 10.1109/IROS.2009.5354832
M3 - Conference contribution
AN - SCOPUS:76249088575
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 4559
EP - 4564
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -