Extremely wide view of the omni-vision performs highly advanced for the vehicle navigation and target detection. However moving targets detection through omni-vision fixed on AGV (Automatic Guided Vehicle) involves more complex environments, where both the targets and the vehicle are in the moving condition. The moving targets will be detected in a moving background. After analyzing the character on omniorientational vision and image, we propose to use the estimation in optical flow fields, Gabor filter over optical flow fields for detecting moving objects. Because polar angle θ and polar radius R of polar coordinates are being changed as the targets moving, we improved optical flow approach which can be calculated based on the polar coordinates at the omniorientational center. We constructed Gabor filter which has 24 orientations every 15°, and filter optical flow fields at 24 orientations. By the contrast of the Gabor filter images at the same orientation and the same AGV position between the situation which there aren't any moving targets in the environment and the situation which there are some moving targets in the same environment, the moving targets' optical flow fields could be recognized. Experiment results show that the proposed approach is feasible and effective.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Moving target detection through omni-orientational vision fixed on AGV


    Contributors:

    Conference:

    Intelligent Robots and Computer Vision XXIV: Algorithms, Techniques, and Active Vision ; 2006 ; Boston,Massachusetts,United States


    Published in:

    Publication date :

    2006-10-01





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Omni-directional moving chassis and omni-directional moving equipment

    WU ZHUOZHAO / JIN YI / XU ZHIRONG et al. | European Patent Office | 2022

    Free access

    Omni-directional moving AGV

    WANG YOUMENG / ZHU MEIYE | European Patent Office | 2021

    Free access

    OMNI WHEEL AND MOVING DEVICE

    LI JIANGUO / LIU JIE / LI YONGQIANG et al. | European Patent Office | 2022

    Free access

    OMNI WHEEL AND MOVING DEVICE

    LI JIANGUO / LIU JIE / LI YONGQIANG et al. | European Patent Office | 2024

    Free access

    OMNI WHEEL AND MOVING DEVICE

    LI JIANGUO / LIU JIE / LI YONGQIANG et al. | European Patent Office | 2024

    Free access